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Direct mras based an adaptive control system for twin rotor mimo system

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In this paper, a Model Reference Adaptive Systems (MRAS) based an Adaptive System is proposed to a Twin Rotor MIMO System (TRMS). The TRMS is an open-loop unstable, nonlinear and multi output system. | Lanh Van Nguyen et al Journal of SCIENCE and TECHNOLOGY 127(13): 9 - 14 DIRECT MRAS BASED AN ADAPTIVE CONTROL SYSTEM FOR TWIN ROTOR MIMO SYSTEM Lanh Van Nguyen*, Loc Bao Dam University of Technology – TNU ABSTRACT In this paper, a Model Reference Adaptive Systems (MRAS) based an Adaptive System is proposed to a Twin Rotor MIMO System (TRMS). The TRMS is an open-loop unstable, nonlinear and multi output system. The main task of this design is to keep the balance and to track a given trajectory. There are two separate adaptive controllers designed for controlling two angles. By applying Lyapunov stability theory the adaptive law that is derived in this study is quite simple in its form, robust and converges quickly. Experimental results show that the proposed adaptive PID controllers have better performance compared to the conventional PID controllers in the sense of robustness against internal and/or external disturbances. Index Terms – Model Reference Adaptive Systems (MRAS), Twin Rotor MIMO System (TRMS). Keywords: Model Reference Adaptive Systems (MRAS), Twin Rotor MIMO System (TRMS). INTRODUCTION* The TRMS which isa model of the simpli fied heli copter. Its position and velo city are controlled by changing the speed of pitch and yaw rotors. The TRMS system has high non line arity, uncer tainty, especially coupling between input sandout puts. This would be avery complicated problem if we want to control the TRMS moving quickly and accurately to the desired location or a given trajectory. The motion control system can bequite complex because many different factors must be conside redin the design. It's hard to figure out the design methods that consider all the factors such as: reducethe effects of noise, object variable parameters, avoid the influence of the coupling. There is nosing lesolution to this problem. There have been many research papers in order to control the system. How ever the classic controller will notachieve the desire dresults. There fore,