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Stabilization of a single rotary inverted pendulum (SRIP) system is a benchmark nonlinear control problem. Inherent instability of SRIP in upright position and the presence of modelling uncertainty pose a challenge for control engineers. Sliding-mode control (SMC) is the most widely accepted robust control technique. Various versions of SMCs to stabilize SRIP have been reported in literature. Advantages...
This paper is based on the attitude control of a quadcopter with external disturbances. Sliding mode control (SMC) is a robust control method suitable for control of quadcopter. But its robustness comes at the cost of high frequency switching called chattering. An Adaptive Neural Gain Scheduling Sliding Mode Control (ANGS-SMC) technique is proposed to solve the chattering problem. Control gain of...
This paper deals with model predictive control (MPC) approach for a twin rotor multi-input-multi-output system (TRMS). The main objective is to stabilize beam of the TRMS with respect to pitch and yaw angles. Development of controller for TRMS is challenging because of its coupling effects between two axes and also due to its highly nonlinear characteristics. An accurate model of the system is developed...
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