61 / 2017-01-24 01:10:05

Model Predictive Control for Position control of Twin Rotor MIMO System

12626,12625,12624,12623,12622,12621,12620,12619,12618

Twin Rotor Multi-Input Multi-Output System (TRMS) is a highly non-linear 2-DOF helicopter model. It consists of two rotors, vertical and horizontal, whose positions need to be controlled with the help of suitable controller. Due to its non-linear characteristics, it is quite challenging to design a conventional controller for this system. The design objectives of the controller are to stabilize the TRMS in significant cross coupling and reach desired Pitch and Yaw angles. Model predictive control (MPC) can be suitably used in such multivariable systems with significant constraint handling. In this paper, independent model generalized predictive control (IMGPC) is used for the regulation of Pitch (vertical angle) and Yaw (horizontal angle). The controller is implemented on the linearized model of TRMS. A MATLAB code, satisfying the constraints on the inputs and the input increments (in presence of noise and disturbances), is implemented. The simulation results show that the proposed controller has better performance as compared to PID controller.