Design and Evaluation of the PID, SMC and MPC Controllers by State Estimation by Kalman Filter in the TRMS System

Byron Zapata; Jaime Heredia; Julio Proaño

doi:10.1007/978-3-030-60467-7_43

Design and Evaluation of the PID, SMC and MPC Controllers by State Estimation by Kalman Filter in the TRMS System

Byron Zapata, Jaime Heredia, Julio Proaño

Producción científica: Capítulo del libro/informe/acta de congreso › Contribución de conferencia › revisión exhaustiva

2 Citas (Scopus)

Resumen

The Twin Rotor Mimo System (TRMS) consists of two rotors namely tail rotor (∅) and main rotor (ψ). The main objective of this article is improving the stability of the TRMS system in rotation and elevation. To achieve that, a predictive controller based on the model (MPC), and a sliding mode controller (SMC) were implemented. The analytical modelling is based on the study of the system dynamics to obtain a linear model. Additionally, concepts of control involved in the design of the MPC, PID and SMC controllers are considered. The controllers were evaluated on simulation and on the real TRMS system by performing several tests. In these tests the metrics considered were the response of the system and the control signal. The results show a comparison of settling times, rise times, integral of the absolute error (IAE) and integral of the squared error (ISE). We found that SMC controller have the best performance in comparison with PID and MPC controllers.

Idioma original	Inglés
Título de la publicación alojada	Innovation and Research - A Driving Force for Socio-Econo-Technological Development
Editores	Miguel Botto-Tobar, Marcelo Zambrano Vizuete, Angela Díaz Cadena
Editorial	Springer Science and Business Media Deutschland GmbH
Páginas	531-544
Número de páginas	14
ISBN (versión impresa)	9783030604660
DOI	https://doi.org/10.1007/978-3-030-60467-7_43
Estado	Publicada - 2021
Evento	1st International Congress on Research and Innovation, CI3 2020 - Sangolqui, Ecuador Duración: 18 jun. 2020 → 19 jun. 2020

Serie de la publicación

Nombre	Advances in Intelligent Systems and Computing
Volumen	1277
ISSN (versión impresa)	2194-5357
ISSN (versión digital)	2194-5365

Conferencia

Conferencia	1st International Congress on Research and Innovation, CI3 2020
País/Territorio	Ecuador
Ciudad	Sangolqui
Período	18/06/20 → 19/06/20

Nota bibliográfica

Publisher Copyright:
© 2021, The Author(s), under exclusive license to Springer Nature Switzerland AG.

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10.1007/978-3-030-60467-7_43

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Zapata, B., Heredia, J., & Proaño, J. (2021). Design and Evaluation of the PID, SMC and MPC Controllers by State Estimation by Kalman Filter in the TRMS System. En M. Botto-Tobar, M. Zambrano Vizuete, & A. Díaz Cadena (Eds.), Innovation and Research - A Driving Force for Socio-Econo-Technological Development (pp. 531-544). (Advances in Intelligent Systems and Computing; Vol. 1277). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-3-030-60467-7_43

Zapata, Byron ; Heredia, Jaime ; Proaño, Julio. / Design and Evaluation of the PID, SMC and MPC Controllers by State Estimation by Kalman Filter in the TRMS System. Innovation and Research - A Driving Force for Socio-Econo-Technological Development. editor / Miguel Botto-Tobar ; Marcelo Zambrano Vizuete ; Angela Díaz Cadena. Springer Science and Business Media Deutschland GmbH, 2021. pp. 531-544 (Advances in Intelligent Systems and Computing).

@inproceedings{6d1b826e0a1b409691d1f8b34b46d6e1,

title = "Design and Evaluation of the PID, SMC and MPC Controllers by State Estimation by Kalman Filter in the TRMS System",

abstract = "The Twin Rotor Mimo System (TRMS) consists of two rotors namely tail rotor (∅) and main rotor (ψ). The main objective of this article is improving the stability of the TRMS system in rotation and elevation. To achieve that, a predictive controller based on the model (MPC), and a sliding mode controller (SMC) were implemented. The analytical modelling is based on the study of the system dynamics to obtain a linear model. Additionally, concepts of control involved in the design of the MPC, PID and SMC controllers are considered. The controllers were evaluated on simulation and on the real TRMS system by performing several tests. In these tests the metrics considered were the response of the system and the control signal. The results show a comparison of settling times, rise times, integral of the absolute error (IAE) and integral of the squared error (ISE). We found that SMC controller have the best performance in comparison with PID and MPC controllers.",

keywords = "Controllers, IAE, ISE, Main, Pitch, Predictive controller based on the model, Sliding mode controller, Tail, Twin rotor mimo sistem, Yaw",

author = "Byron Zapata and Jaime Heredia and Julio Proa{\~n}o",

note = "Publisher Copyright: {\textcopyright} 2021, The Author(s), under exclusive license to Springer Nature Switzerland AG.; 1st International Congress on Research and Innovation, CI3 2020 ; Conference date: 18-06-2020 Through 19-06-2020",

year = "2021",

doi = "10.1007/978-3-030-60467-7_43",

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Zapata, B , Heredia, J & Proaño, J 2021, Design and Evaluation of the PID, SMC and MPC Controllers by State Estimation by Kalman Filter in the TRMS System. En M Botto-Tobar, M Zambrano Vizuete & A Díaz Cadena (eds.), Innovation and Research - A Driving Force for Socio-Econo-Technological Development. Advances in Intelligent Systems and Computing, vol. 1277, Springer Science and Business Media Deutschland GmbH, pp. 531-544, 1st International Congress on Research and Innovation, CI3 2020, Sangolqui, Ecuador, 18/06/20. https://doi.org/10.1007/978-3-030-60467-7_43

Design and Evaluation of the PID, SMC and MPC Controllers by State Estimation by Kalman Filter in the TRMS System. / Zapata, Byron ; Heredia, Jaime ; Proaño, Julio.
Innovation and Research - A Driving Force for Socio-Econo-Technological Development. ed. / Miguel Botto-Tobar; Marcelo Zambrano Vizuete; Angela Díaz Cadena. Springer Science and Business Media Deutschland GmbH, 2021. p. 531-544 (Advances in Intelligent Systems and Computing; Vol. 1277).

Producción científica: Capítulo del libro/informe/acta de congreso › Contribución de conferencia › revisión exhaustiva

TY - GEN

T1 - Design and Evaluation of the PID, SMC and MPC Controllers by State Estimation by Kalman Filter in the TRMS System

AU - Zapata, Byron

AU - Heredia, Jaime

AU - Proaño, Julio

PY - 2021

Y1 - 2021

N2 - The Twin Rotor Mimo System (TRMS) consists of two rotors namely tail rotor (∅) and main rotor (ψ). The main objective of this article is improving the stability of the TRMS system in rotation and elevation. To achieve that, a predictive controller based on the model (MPC), and a sliding mode controller (SMC) were implemented. The analytical modelling is based on the study of the system dynamics to obtain a linear model. Additionally, concepts of control involved in the design of the MPC, PID and SMC controllers are considered. The controllers were evaluated on simulation and on the real TRMS system by performing several tests. In these tests the metrics considered were the response of the system and the control signal. The results show a comparison of settling times, rise times, integral of the absolute error (IAE) and integral of the squared error (ISE). We found that SMC controller have the best performance in comparison with PID and MPC controllers.

AB - The Twin Rotor Mimo System (TRMS) consists of two rotors namely tail rotor (∅) and main rotor (ψ). The main objective of this article is improving the stability of the TRMS system in rotation and elevation. To achieve that, a predictive controller based on the model (MPC), and a sliding mode controller (SMC) were implemented. The analytical modelling is based on the study of the system dynamics to obtain a linear model. Additionally, concepts of control involved in the design of the MPC, PID and SMC controllers are considered. The controllers were evaluated on simulation and on the real TRMS system by performing several tests. In these tests the metrics considered were the response of the system and the control signal. The results show a comparison of settling times, rise times, integral of the absolute error (IAE) and integral of the squared error (ISE). We found that SMC controller have the best performance in comparison with PID and MPC controllers.

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KW - Predictive controller based on the model

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KW - Yaw

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Zapata B , Heredia J , Proaño J. Design and Evaluation of the PID, SMC and MPC Controllers by State Estimation by Kalman Filter in the TRMS System. En Botto-Tobar M, Zambrano Vizuete M, Díaz Cadena A, editores, Innovation and Research - A Driving Force for Socio-Econo-Technological Development. Springer Science and Business Media Deutschland GmbH. 2021. p. 531-544. (Advances in Intelligent Systems and Computing). doi: 10.1007/978-3-030-60467-7_43

Design and Evaluation of the PID, SMC and MPC Controllers by State Estimation by Kalman Filter in the TRMS System

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