Robust Finite-Time Sliding Mode Control of Twin Rotor MIMO System
International Journal of Modelling, Identification and Control
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In this paper, a robust finite-time sliding mode control (SMC) of the twin rotor MIMO system (TRMS) is discussed. This helicopter laboratory model is highly nonlinear in characteristics and coupling dynamics between main and tail rotors. The main purpose of this paper is to investigate finite-time SMC for pitch and yaw angles of TRMS, either for posture stabilisation or trajectory tracking. Moreover, these angles are used commonly to determine the hovering posture of a helicopter. The paper first briefs the dynamical model of TRMS and then it adopts a finite-time SMC technique to achieve the desired trajectory or posture stabilisation. Numerical simulation results are demonstrated and verify the effectiveness of the control technique.
Robust control; TRMS; Twin-rotor mimo system; Finite time control; Sliding mode control; Nonlinear control; Helicopter system; Uncertain system; Dynamical model; Mathematical modelling; Nonlinear system
Automotive Engineering | Engineering | Navigation, Guidance, Control, and Dynamics
Choudhary, S. K.,
Robust Finite-Time Sliding Mode Control of Twin Rotor MIMO System.
International Journal of Modelling, Identification and Control, 35(1),