DESIGNING AN ADAPTIVE CONTROL SYSTEM BASED ON INDIRECT MRAS FOR TWIN ROTOR MIMO SYSTEM

Tóm tắt

This paper presents an indirect Model Reference Adaptive System design for a Twin Rotor MIMO system, where the nonlinear system exhibits significant cross-coupling between the two rotors, making the control process challenging. The main objective of the design is to accurately track the process’s trajectory in space. Firstly, the nonlinear equations governing the system are provided and then linearized into two distinct linear equations. Based on these linearized equations, two indirect adaptive controllers are developed: one to control the pitch angle and the other to control the yaw angle of the system's beam. By applying Lyapunov’s stability theory, the adaptive laws are established, ensuring stability and rapid convergence. The simulation results demonstrate that the system performs effectively, with the output signal successfully tracking the reference signal when the proposed controller is applied. These results demonstrate the effectiveness, reliability, and capability of the adaptive control strategy in accurately tracking the trajectory despite significant nonlinearities and cross-coupling in the system.