Pandey Vinay Kumar, Kar Indrani, Mahanta Chitralekha
Department of Electronics and Electrical Engineering, Indian Institute of Technology Guwahati, 781039, India.
ISA Trans. 2017 Jul;69:256-272. doi: 10.1016/j.isatra.2017.05.005. Epub 2017 May 13.
In this paper, an adaptive control method using multiple models with second level adaptation is proposed for a class of nonlinear multi-input multi-output (MIMO) coupled systems. Multiple estimation models are used to tune the unknown parameters at the first level. The second level adaptation provides a single parameter vector for the controller. A feedback linearization technique is used to design a state feedback control. The efficacy of the designed controller is validated by conducting real time experiment on a laboratory setup of twin rotor MIMO system (TRMS). The TRMS setup is discussed in detail and the experiments were performed for regulation and tracking problem for pitch and yaw control using different reference signals. An Extended Kalman Filter (EKF) has been used to observe the unavailable states of the TRMS.
本文针对一类非线性多输入多输出（MIMO）耦合系统，提出了一种采用二级自适应的多模型自适应控制方法。在第一级使用多个估计模型来调整未知参数。第二级自适应为控制器提供单个参数向量。采用反馈线性化技术设计状态反馈控制。通过在双转子MIMO系统（TRMS）实验室装置上进行实时实验，验证了所设计控制器的有效性。详细讨论了TRMS装置，并使用不同参考信号针对俯仰和偏航控制的调节和跟踪问题进行了实验。采用扩展卡尔曼滤波器（EKF）来观测TRMS的不可用状态。
