Abstract:
A Twin rotor system (TRS) is a highly nonlinear and unstable multi-input multi-output
system. Control of a such system is a challenging problem which has attracted a lot
of research effort. In this thesis an Integral Terminal Sliding Mode Control (ITSMC)
based design for attitude control of TRS is proposed that assures disturbance rejection
with asymptotic stability. The proposed ITSMC uses second order Integral Terminal
Sliding surface which guarantees trajectory tracking. Lyapunov based stability analysis
and MATLAB based simulation is used to support the validity of proposed controller.
Further hardware implementation is made to verify the effectiveness of the proposed
controller.
