슬라이딩 모드 제어기와 선형 피드백 제어기의 스위칭을 이용한 트윈로터 시스템의 강인제어 연구

Abstract

Modeling complex air vehicles is a challenging task due to their high nonlinear behavior and significant coupling effects between rotors. Twin rotor multi-input multi-output system (TRMS) is a laboratory setup designed for control experiments, which resembles a helicopter with unstable, nonlinear, and coupled dynamics. In this paper, we design a controller through two linearization techniques: Jacobian linearization and Input/Output linearization for nonlinear models, and compare the differences between the two controllers. In addition, the focus is on switching and analyzing the sliding mode controller and the linearization controller. Sliding mode control is a nonlinear control technique, characterized by remarkable control accuracy, robustness, and easy tuning and implementation. However, the problem with sliding mode control is the occurrence of chattering due to nonlinear inputs, such as unknown disturbances included in control inputs. To solve this chattering occurrence problem, switching techniques were applied to sliding mode controllers and Jacobian linearization controllers. Matlab simulation was performed to verify the control performance of the controller. As a result of the simulation, it can be confirmed that chattering has been removed while maintaining the robustness of the sliding mode controller.