Modeling and Implementation of Adaptive Control Technique on a TRMS Model
G. Shivani1, Anuja E. Jamodkar2, B. Jaganatha Pandian3
1G. Shivani, School of Electrical Engineering, VIT, Vellore, India.
2Anuja E. Jamodkar, School of Electrical Engineering, VIT, Vellore, India.
3 B. Jaganatha Pandian, School of Electrical Engineering, VIT, Vellore, India.
Manuscript received on 02 June 2019 | Revised Manuscript received on 10 June 2019 | Manuscript published on 30 June 2019 | PP: 1015-1020 | Volume-8 Issue-8, June 2019 | Retrieval Number: H6550068819/19©BEIESP
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© The Authors. Blue Eyes Intelligence Engineering and Sciences Publication (BEIESP). This is an open access article under the CC-BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/)
Abstract: Twin Rotor Multi-input-multi-output System (TRMS) resembles a desktop version of a non-linear helicopter model. It consists of two rotors namely tail rotor and main rotor. A model based on first principle modeling approach is designed in MATLAB Simulink environment. An adaptive control scheme based on Model Reference Adaptive Systems (MRAS) theory is implemented for tracking the desired trajectory with changing system parameters and disturbances. MRAC based Lyapunov Theory is used to adjust the gains for guaranteeing stability and converges the error to zero under stochastic conditions. The output of the TRMS Model is far better for MRAC based Lyapunov Approach than compared to PID. The main objective of this project is to stabilize the non-linear TRMS model.
Keyword: Helicopter model, Lyapunov Approach, MRAC, PID control, TRMS.
Scope of the Article: Control and Automation.