ROBUST INTEGRAL OF SIGN OF ERROR BASED ATTITUDE CONTROL OF 2-DOF TWIN ROTOR SYSTEM

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.