Output tracking control for TRMS based on time receding optimal observation of disturbances

Authors

  • Dam Bao Loc Thai Nguyen University of Technology, 3-2 Street, Tich Luong, Thai Nguyen city, Viet Nam
  • Nguyen Duy Cuong Thai Nguyen University of Technology, 3-2 Street, Tich Luong, Thai Nguyen city, Viet Nam
  • Nguyen Doan Phuoc Hanoi University of Science and Technology, 1 Dai Co Viet Street, HaNoi, Viet Nam

DOI:

https://doi.org/10.15625/2525-2518/58/5/14867

Keywords:

Euler-Lagrange, bilinear systems, TRMS, optimal estimation, output disturbances.

Abstract

The paper presents an approach to design the adaptive output tracking controller for disturbed Twin Rotor Multi-Input Multi-Output System (TRMS) by using a time receding observer of functional disturbances for compensative control purpose, without using conventional methods as a neural network. To do this, first the disturbed Euler-Lagrange model of TRMS is converted to an equivalent bilinear form. And then, secondly an optimal disturbances estimator for this disturbed bilinear system is constructed based on time receding minimizing their effect. The complete output tracking controller for TRMS is created then by combining an exact linearization controller with the proposed disturbances estimation mechanism. Simulation results show that the here suggested controller meet completely the expected output tracking performances.

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Published

2020-10-16

How to Cite

[1]
D. B. Loc, N. D. Cuong, and N. D. Phuoc, “Output tracking control for TRMS based on time receding optimal observation of disturbances”, Vietnam J. Sci. Technol., vol. 58, no. 5, pp. 623–634, Oct. 2020.

Issue

Section

Mechanical Engineering - Mechatronics