Twin Rotor MIMO System Control using Linear Quadratic Regulator with Simechanics

Fahmizal, Fahmizal and Nugroho, Hanung Adi and Cahyadi, Adha Imam and Ardiyanto, Igi (2021) Twin Rotor MIMO System Control using Linear Quadratic Regulator with Simechanics. In: International Conference on Electrical, Electronics and Information Engineering, ICEEIE.

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Abstract

This paper presents a linear quadratic regulator (LQR) for controlling a twin rotor MIMO system (TRMS) with Simechanics simulation. TRMS is a nonlinear multivariable system that can test flight control algorithms. Due to its high nonlinearity, problems arise when controlling motor speed variations in the main rotor and tail rotor. Thus, LQR control is implemented, so that the interaction between the main rotor control and the tail rotor can be designed accordingly. For additional functionality, we add Nbar gain to reduce steady-state error. The results obtained have improved the system to be more stable and increase response time compared to PID control. Lastly, a demonstration of the effectiveness of the proposed approach is provided by the Matlab environment using Simechanics. © 2021 IEEE.

Item Type: Conference or Workshop Item (Paper)
Additional Information: Cited by: 0
Uncontrolled Keywords: Linear control systems; MATLAB; MIMO systems; Flight control; Linear quadratic; Linear quadratic regulator; Nonlinear multivariable systems; Quadratic regulators; Simechanic; System control; Tail rotors; Test flights; Twin Rotor MIMO System; Three term control systems
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions: Faculty of Engineering > Electrical and Information Technology Department
Depositing User: Sri JUNANDI
Date Deposited: 25 Oct 2024 03:39
Last Modified: 25 Oct 2024 03:39
URI: https://ir.lib.ugm.ac.id/id/eprint/8638

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