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Sensors 2016, 16(8), 1160;

Robust Decentralized Nonlinear Control for a Twin Rotor MIMO System

Escuela de Ingenieros Industriales de Albacete, Universidad de Castilla-La Mancha, 02071 Albacete, Spain
Escuela Técnica Superior de Ingenieros Navales, Universidad Politécnica de Madrid, 28040 Madrid, Spain
Author to whom correspondence should be addressed.
Academic Editor: Gonzalo Pajares Martinsanz
Received: 10 June 2016 / Revised: 15 July 2016 / Accepted: 19 July 2016 / Published: 27 July 2016
(This article belongs to the Special Issue State-of-the-Art Sensors Technology in Spain 2015)
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This article presents the design of a novel decentralized nonlinear multivariate control scheme for an underactuated, nonlinear and multivariate laboratory helicopter denominated the twin rotor MIMO system (TRMS). The TRMS is characterized by a coupling effect between rotor dynamics and the body of the model, which is due to the action-reaction principle originated in the acceleration and deceleration of the motor-propeller groups. The proposed controller is composed of two nested loops that are utilized to achieve stabilization and precise trajectory tracking tasks for the controlled position of the generalized coordinates of the TRMS. The nonlinear internal loop is used to control the electrical dynamics of the platform, and the nonlinear external loop allows the platform to be perfectly stabilized and positioned in space. Finally, we illustrate the theoretical control developments with a set of experiments in order to verify the effectiveness of the proposed nonlinear decentralized feedback controller, in which a comparative study with other controllers is performed, illustrating the excellent performance of the proposed robust decentralized control scheme in both stabilization and trajectory tracking tasks. View Full-Text
Keywords: decentralized control; nonlinear control; time-scale model; Euler–Lagrange model; TRMS decentralized control; nonlinear control; time-scale model; Euler–Lagrange model; TRMS

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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).
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Belmonte, L.M.; Morales, R.; Fernández-Caballero, A.; Somolinos, J.A. Robust Decentralized Nonlinear Control for a Twin Rotor MIMO System. Sensors 2016, 16, 1160.

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