Neighboring optimal control of partially-observed twin rotor multi-input multi-output system
This manuscript contributes to the development of a neighboring optimal control law coupled with estimation for solving the trajectory tracking and/or regulator problem of a twin-rotor multi-input multi-output system (TRMS). The proposed control law is able to provide necessary control inputs to the TRMS's main and tail rotors so that its actual azimuth and elevation angles follow a pre-defined ones in the presence of process and measurement uncertainties. Most of the control techniques in the literature to date are tailored towards designing conventional control laws for tackling the regulator problem of a TRMS where process and measurement noise are not taken into considerations. This is simply because designing controller coupled with estimation for solving the tracking and/or regulator problem of a TRMS is a challenging task. Hence, we propose a neighboring optimal controller coupled with estimation through linearizing the TRMS model around its operating point. In addition, we prove that the proposed control law is stable in the sense of Lyapunov. The theoretical results are validated through a set of computer simulations.
|Keywords||Estimation, Optimal control, Output feedback, TRMS model|
|Conference||25th IEEE International Symposium on Industrial Electronics, ISIE 2016|
Miah, S. (Suruz), Kafi, M.R. (Mohamed R.), Chaoui, H, & Ahn, I.S. (In Soo). (2016). Neighboring optimal control of partially-observed twin rotor multi-input multi-output system. In IEEE International Symposium on Industrial Electronics (pp. 393–398). doi:10.1109/ISIE.2016.7744922