Abstract:
Attitude stabilization of 2-DOF Twin Rotor System (TRS) is always a challenging
problem from the control point of view due to nonlinearity and instability in the open controller to stabilize the loop and high cross-coupling effects. This paper proposes
pitch and yaw angles of 2-DOF TRS using Robust Integral of Sign of Error (RISE)
based control. The proposed controller guarantees asymptotic tracking with bounded
disturbances. It can also compensate various parametric uncertainties and modeling
errors. Where cross coupling is considered as disturbance to each other. The stabil ity of the proposed controller is shown by using lyapunov based analysis. In order to
the effectiveness of proposed controller, Sliding Mode Controller (SMC) is taken
as bench mark. MATLAB simulation results of both the controllers are compared
a
prove
critically. These simulation results are then validated by implementing RISE on TRS
hardware.
