Abstract
The twin rotor multi-input multi-output system (TRMS) is an aerodynamic device with 2 degrees of freedom (DOFs) having striking similarity to a helicopter. It is characterized by highly nonlinearities, and it requires designing robust control algorithms that can deal with these problems. In this chapter, an optimal direct adaptive model-free controller (ODAMFC) is proposed for TRMS control problem. Using Legendre polynomials (LPs) and particle swarm optimization (PSO) algorithm, two ODAMFCs are designed to control separately the yaw and pitch attitude angles of the TRMS. The stability and effectiveness of the proposed controller are demonstrated with simulation result.
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Chelihi, A., Perozzi, G., Sentouh, C. (2022). Optimal Direct Adaptive Model-Free Controller for Twin Rotor MIMO System Using Legendre Polynomials and PSO Algorithm. In: Lacarbonara, W., Balachandran, B., Leamy, M.J., Ma, J., Tenreiro Machado, J.A., Stepan, G. (eds) Advances in Nonlinear Dynamics. NODYCON Conference Proceedings Series. Springer, Cham. https://doi.org/10.1007/978-3-030-81166-2_8
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