Title: Robust finite-time sliding mode control of twin rotor MIMO system

Authors: Kaushik Raj; Santosh Kumar Choudhary; Venkatesan Muthukumar

Addresses: Department of Electrical and Computer Engineering, University of Nevada Las Vegas, Las Vegas, NV, 89154, USA ' Manipal Institute of Technology, Manipal Academy of Higher Education, Manipal, Karnataka, 576104, India ' Department of Electrical and Computer Engineering, University of Nevada Las Vegas, Las Vegas, NV, 89154, USA

Abstract: 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.

Keywords: 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.

DOI: 10.1504/IJMIC.2020.113292

International Journal of Modelling, Identification and Control, 2020 Vol.35 No.1, pp.1 - 8

Received: 08 Jun 2019
Accepted: 19 Apr 2020
Published online: 26 Feb 2021 *

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