Non linear control Design of the 2-DOF Helicopter (TRMS system)

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Published Dec 8, 2012
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Vol 13 No 3 (2013): Volume 13 / 2013

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Djamel SAIGAA
LASS Laboratory, Department of Electronics, Faculty of Technology, University of Msila BP 166 Ichbilia 28000 Algeria
Samir ZEGHLACHE
LASS Laboratory, Department of Electronics, Faculty of Technology, University of Msila BP 166 Ichbilia 28000 Algeria
Kamel KARA
Department of Electronics, Faculty of Engineering Sciences, University of Blida, Algeria

Abstract

In this paper, a backstepping controller is designed to position the yaw and pitch angles of a Twin Rotor Multi-input Multi-output System (TRMS). With the coupling effects considered as the uncertainties, the highly coupled nonlinear TRMS is decomposed into a horizontal subsystem and a vertical subsystem. The reaching conditions and the stability of the TRMS with the proposed controller are guaranteed. Finally Simulation results are included to indicate that TRMS with the proposed controller can remain robust to the external disturbances.

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