This paper deals with the tracking problem of a twin rotor multiple-input multiple-output system (TRMS)described by an Euler-Lagrange forced model with constant uncertain parameters and input disturbances. The controlof TRMS system is the benchmark problem for control of helicopter which has been a challenging problemdue to flexible dynamics, nonlinearities and cross coupling. The control objective is to make this systems track tothe given trajectories accurately in spite of the influences of uncertainties and input disturbances. We propose theadaptive feedback linearization controller by using 03 adaptive parameters that stand for the unknown mass parametersof parts in the TRMS. By choosing appropriately controller parameters, the effects of the input disturbancesthat are friction, cable, gyro moments and the effects caused by the main propeller speed and the tail propellerspeed on the vertical and horizontal movements to the yaw and pitch angles will be attenuated. Two functions,including unknown mass parameter adaption and the disturbances attenuation to guarantee the errors of the pitchand yaw angles, are implemented simultaneously by the adaptive feedback linearization controller. The simulationand experimental results show that the good robustness of the TRMS controlled by the proposed controller can beobtained arbitrarily.
This paper deals with the tracking problem of a twin rotor multiple-input multiple-output system (TRMS)described by an Euler-Lagrange forced model with constant uncertain parameters and input disturbances. The controlof TRMS system is the benchmark problem for control of helicopter which has been a challenging problemdue to flexible dynamics, nonlinearities and cross coupling. The control objective is to make this systems track tothe given trajectories accurately in spite of the influences of uncertainties and input disturbances. We propose theadaptive feedback linearization controller by using 03 adaptive parameters that stand for the unknown mass parametersof parts in the TRMS. By choosing appropriately controller parameters, the effects of the input disturbancesthat are friction, cable, gyro moments and the effects caused by the main propeller speed and the tail propellerspeed on the vertical and horizontal movements to the yaw and pitch angles will be attenuated. Two functions,including unknown mass parameter adaption and the disturbances attenuation to guarantee the errors of the pitchand yaw angles, are implemented simultaneously by the adaptive feedback linearization controller. The simulationand experimental results show that the good robustness of the TRMS controlled by the proposed controller can beobtained arbitrarily.