Implementation of Sliding Mode Controller for Twin Rotor Multi Input Multi Output System without state observer

摘要

This paper elucidates the scope of design and implementation of Sliding Mode Controller (SMC) for a Twin Rotor MIMO System (TRMS). SMC provides robust control for non-linear system. The performance parameters improved by SMC includes decoupling design procedure, disturbance rejection, insensitivity to parameter variation and simple mathematical steps in designing of SMC. The system dynamics are decoupled into horizontal and vertical subsystem and two separate SMC's are designed for each subsystem. The design objectives of the controller are to stabilize the TRMS in significant cross coupling, reach a desired position and accurately track a specified trajectory. The proposed method is applied numerically and is validated by simulation results. The results are compared with conventional Proportional-Integral-Derivative (PID) controller to show effectiveness of SMC with respect to error and control indices.