Rashad Ramy, El-Badawy Ayman, Aboudonia Ahmed
Mechatronics Department, Faculty of Engineering and Materials Science, German University in Cairo, Cairo, Egypt.
Mechanical Engineering Department, Al-Azhar University and German University in Cairo, Cairo, Egypt.
ISA Trans. 2017 Jul;69:166-174. doi: 10.1016/j.isatra.2017.04.013. Epub 2017 Apr 24.
This work proposes a robust tracking controller for a helicopter laboratory setup known as the twin rotor MIMO system (TRMS) using an integral sliding mode controller. To eliminate the discontinuity in the control signal, the controller is augmented by a sliding mode disturbance observer. The actuator dynamics is handled using a backstepping approach which is applicable due to the continuous chattering-free nature of the command signals generated using the disturbance observer based controller. To avoid the complexity of analytically differentiating the command signals, a first order sliding mode differentiator is used. Stability analysis of the closed loop system and the ultimate boundedness of the tracking error is proved using Lyapunov stability arguments. The proposed controller is validated by several simulation studies and is compared to other schemes in the literature. Experimental results using a hardware-in-the-loop system validate the robustness and effectiveness of the proposed controller.
这项工作提出了一种用于直升机实验室装置（即双旋翼多输入多输出系统（TRMS））的鲁棒跟踪控制器，该控制器采用积分滑模控制器。为了消除控制信号中的不连续性，通过滑模干扰观测器对控制器进行了增强。使用反步法处理执行器动力学，由于基于干扰观测器的控制器生成的命令信号具有连续且无抖振的特性，所以反步法适用。为避免解析地求命令信号导数的复杂性，使用了一阶滑模微分器。利用李雅普诺夫稳定性理论证明了闭环系统的稳定性以及跟踪误差的最终有界性。通过若干仿真研究对所提出的控制器进行了验证，并与文献中的其他方案进行了比较。使用半实物仿真系统的实验结果验证了所提出控制器的鲁棒性和有效性。
