Design and real-time implementation of a decentralized sliding mode controller for twin rotor multi-input multi-output system

Farah Faris, et al.

Volume 231, Issue 1, 2017

Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering

www.doi.org/10.1177/0959651816680457

Abstract

The article deals with a real-time implementation of a decentralized sliding mode controller applied to a twin rotor multi-input multi-output system, a system with 2 degrees of freedom, strongly coupled and its dynamic resembles that of a helicopter. The work is motivated by the fact that in the literature several control techniques have been proposed for the twin rotor multi-input multi-output system control without being applied to the system, and the considered authors presented just the simulation results. To control the vertical and horizontal positions of the twin rotor multi-input multi-output system, the system is decoupled into two subsystems, vertical and horizontal, controlled by two independent sliding mode regulators calculated from the mathematical models of vertical and horizontal subsystems, respectively. From the results of real-time control of the twin rotor multi-input multi-output system in stabilization and tracking modes, and performing robustness and disturbance rejection tests, the effectiveness of the suggested control scheme was proven.

Keywords

Sliding mode controller, twin rotor multi-input multi-output system, robust control, real-time control, decentralized control