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Paper ThA101.1

Huang, Loulin (Auckland University of Technology)

An Approach for Robust Control of a Twin-Rotor Multiple Input Multiple Output System

Scheduled for presentation during the Regular Sessions "Aerial Robotics V" (ThA101), Thursday, May 12, 2011, 08:20−08:35, Room 3B

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on May 23, 2019

Keywords Robust/Adaptive Control of Robotic Systems, Aerial Robotics, Motion Control of Manipulators

Abstract

The twin-rotor multiple input multiple output system (TRMS) developed by Feedback Instruments Limited [1] consists of two axes corresponding to yaw and pitch angles commonly found in a helicopter or a flying robot. The system can be used as a generic platform for testing MIMO controllers for flying machines, or generic MIMO mechatronic systems. This paper presents a robust control approach to stabilize the system in a desired posture developed from the dynamic model provided by the manufacturer. To the best knowledge of the author, this is the first time that this model is used to develop a MIMO nonlinear control for the TRMS system. Though it is well known that it is not easy to model accurately the complex system like TRMS, the robust approach proposed in the paper compensates well those deficiencies in the model and achieves a good control performance. In addition, the effect of the quality of the system state feedback on the controller's performance is discussed and a way to improve it is implemented. Experimental results are provided to verify the effectiveness of the approach.

 

 

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