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