Sliding Mode Disturbance Observer-Based Control of a Laboratory Twin Rotor Multi Input-Multi Output System
This paper deals with the development, modeling, identification, and robust control of a twin-rotor MIMO system (TRMS). The TRMS is a two rotational degree-of-freedom unstable structure with significant channel-coupling, nonlinear characteristics, and external disturbances, which resembles a real he...
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| Format: | Article |
| Language: | English |
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IEEE
2025-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/10817547/ |
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| author | Seyyed Sajjad Moosapour Habib Mehdipour Mehrdad Keramatzadeh |
| author_facet | Seyyed Sajjad Moosapour Habib Mehdipour Mehrdad Keramatzadeh |
| author_sort | Seyyed Sajjad Moosapour |
| collection | DOAJ |
| description | This paper deals with the development, modeling, identification, and robust control of a twin-rotor MIMO system (TRMS). The TRMS is a two rotational degree-of-freedom unstable structure with significant channel-coupling, nonlinear characteristics, and external disturbances, which resembles a real helicopter’s characteristics and can be used as an aerodynamic testing setup. The coupled nonlinear state-space representation of the developed TRMS is obtained, and model parameters are identified. The identified model is validated using different experimental test scenarios. To estimate the lumped uncertainty including cross-coupling effects and external disturbances, a novel finite-time sliding mode disturbance observer is proposed. Based on the presented disturbance observer, a finite-time sliding mode controller is designed for the coupled identified TRMS. Performance evaluation of the presented observer-based controller is demonstrated through a series of experiments and simulations. The robustness of the proposed scheme is shown. Moreover, an average improvement of approximately 20% in system performance, as measured by the reduction in the Integrated Squared Error (ISE), is observed compared to the PID controller. |
| format | Article |
| id | doaj-art-d5e52367ce0c41338247dba3da8d6d30 |
| institution | Kabale University |
| issn | 2169-3536 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj-art-d5e52367ce0c41338247dba3da8d6d302025-01-03T00:01:49ZengIEEEIEEE Access2169-35362025-01-011339440610.1109/ACCESS.2024.352385010817547Sliding Mode Disturbance Observer-Based Control of a Laboratory Twin Rotor Multi Input-Multi Output SystemSeyyed Sajjad Moosapour0https://orcid.org/0000-0003-2393-0780Habib Mehdipour1Mehrdad Keramatzadeh2https://orcid.org/0000-0002-4114-249XDepartment of Electrical Engineering, Faculty of Engineering, Shahid Chamran University of Ahvaz, Ahvaz, IranDepartment of Electrical Engineering, Faculty of Engineering, Shahid Chamran University of Ahvaz, Ahvaz, IranDepartment of Electrical Engineering, Faculty of Engineering, Shahid Chamran University of Ahvaz, Ahvaz, IranThis paper deals with the development, modeling, identification, and robust control of a twin-rotor MIMO system (TRMS). The TRMS is a two rotational degree-of-freedom unstable structure with significant channel-coupling, nonlinear characteristics, and external disturbances, which resembles a real helicopter’s characteristics and can be used as an aerodynamic testing setup. The coupled nonlinear state-space representation of the developed TRMS is obtained, and model parameters are identified. The identified model is validated using different experimental test scenarios. To estimate the lumped uncertainty including cross-coupling effects and external disturbances, a novel finite-time sliding mode disturbance observer is proposed. Based on the presented disturbance observer, a finite-time sliding mode controller is designed for the coupled identified TRMS. Performance evaluation of the presented observer-based controller is demonstrated through a series of experiments and simulations. The robustness of the proposed scheme is shown. Moreover, an average improvement of approximately 20% in system performance, as measured by the reduction in the Integrated Squared Error (ISE), is observed compared to the PID controller.https://ieeexplore.ieee.org/document/10817547/TRMStwin-rotorsliding mode controldisturbance observerfinite-time |
| spellingShingle | Seyyed Sajjad Moosapour Habib Mehdipour Mehrdad Keramatzadeh Sliding Mode Disturbance Observer-Based Control of a Laboratory Twin Rotor Multi Input-Multi Output System IEEE Access TRMS twin-rotor sliding mode control disturbance observer finite-time |
| title | Sliding Mode Disturbance Observer-Based Control of a Laboratory Twin Rotor Multi Input-Multi Output System |
| title_full | Sliding Mode Disturbance Observer-Based Control of a Laboratory Twin Rotor Multi Input-Multi Output System |
| title_fullStr | Sliding Mode Disturbance Observer-Based Control of a Laboratory Twin Rotor Multi Input-Multi Output System |
| title_full_unstemmed | Sliding Mode Disturbance Observer-Based Control of a Laboratory Twin Rotor Multi Input-Multi Output System |
| title_short | Sliding Mode Disturbance Observer-Based Control of a Laboratory Twin Rotor Multi Input-Multi Output System |
| title_sort | sliding mode disturbance observer based control of a laboratory twin rotor multi input multi output system |
| topic | TRMS twin-rotor sliding mode control disturbance observer finite-time |
| url | https://ieeexplore.ieee.org/document/10817547/ |
| work_keys_str_mv | AT seyyedsajjadmoosapour slidingmodedisturbanceobserverbasedcontrolofalaboratorytwinrotormultiinputmultioutputsystem AT habibmehdipour slidingmodedisturbanceobserverbasedcontrolofalaboratorytwinrotormultiinputmultioutputsystem AT mehrdadkeramatzadeh slidingmodedisturbanceobserverbasedcontrolofalaboratorytwinrotormultiinputmultioutputsystem |