Control of twin-rotor MIMO system using multiple models with second level adaptation

In this paper an adaptive control method for nonlinear MIMO coupled systems is proposed in general and applied to twin rotor MIMO system (TRMS) in particular. feedback linearization technique for MIMO coupled system is used to design a static state feedback control which linearizes as well as decouples the system. An adaptive control method using multiple models with second level adaptation is proposed for nonlinear MIMO systems. The unknown parameters of the system are assumed to be bounded within a well defined region. The estimation model of the system is used to tulle the parameters. The estimation error is shown to converge to zero asymptotically and the adaptive law for tuning, of unknown parameters is derived using Lyapunov stability criterion. A THEMS model is simulated to validate the theoretical establishments. An Extended Kalman Filter (ENE) has been used to observe the unavailable states of the TRMS. The improvement in transient and steady state performance using the proposed scheme is validated by simulation results. (C) 2016, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.