Synthesis of Adaptive Sliding Mode Control for Twin Rotor MIMO System with Mass Uncertainty based on Synergetic Control Theory

Nguyen Xuan Chiem (Le Quy Don Technical University)
Bui Xuan Hai (Le Quy Don Technical University)
T. C. Phan (Le Quy Don Technical University)

International Journal of Robotics and Control Systems
Vol 4, No 1 (2024)

In this paper, the authors present a new method to synthesize an adaptive sliding controller for Twin Rotor MIMO System (TRMS) based on Synergetic Control Theory (SCT). This system represents a prototype of a helicopter with two degrees of freedom and is widely used in automatic control laboratories. The complexity of the control problem is due to the nonlinear cross-coupling between the main and tail rotors. Uncertainty in system parameters further increases the complexity of the control problem. In Synergetic Control Theory, manifolds are designed for each channel. The control law is found based on sequential manifolds and the Analytical Design of Aggregated Regulators (ADAR) method. The adaptive law when the parameters are uncertain is given based on the analysis of system stability thanks to the Lyapunov function of the first manifold. Finally, the effectiveness of the proposed controller is demonstrated by numerical simulation results and comparison with conventional Sliding Mode Control (SMC).