Robust Output Control Algorithm for a Twin-Rotor Non-Linear MIMO System

Sergey Vrazhevsky, Alexey Margun, Dmitry Bazylev, Konstantin Zimenko, Artem Kremlev
2016 Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics  
This paper addresses to the problem of a non-linear MIMO systems control. A class of non-linear parameter uncertain systems operating under unknown bounded disturbances is considered. It is assumed, that mathematical model of such system can be decomposed on linear and non-linear dynamics. Proposed control algorithm is based on the method of consecutive compensator. The only required parameter to be known for the controller synthesis is a relative degree of linear part of plant. The
more » ... s of the control method is demonstrated experimentally using the laboratory platform named «Twin Rotor MIMO System». The proposed method is compared with standard PID controller. Experimental results show that the transient behaviour of the developed control algorithm provides higher accuracy and performance, especially for the case of model parameters deviation from their nominal values.
doi:10.5220/0005985004210427 dblp:conf/icinco/VrazhevskyMBZK16 fatcat:ldlttlrmb5dsthv5q5clrpbzd4