Robust MPC for helicopter TRMS (2D of helicopter)

Abstract Is a well- created control strategy for optimum control of strained multivariate systems. The twin-rotor multiple-inputs multiple-outputs (TRMS) is a non-linear system with important cross-coupling between horizontal and vertical axes presenting great challenges in the conception of modeling and control. There are cases once a theoretical conception can create issues once it involves to practical implementation, especially when conception is for non-linear systems. That’s why this paper presents a notably feasible MPC conception for TRMS that has been performed with success on a laboratory TRMS benchmark. The given conception is better adapted for TRMS as a result of that it will handle the control constraints related with the system through to the optimization algorithm program underlying the MPC scheme. From the point of vision of the system, all control objectives are addressed, viz. stabilizing the system in coupled conditions and ensure that its beam can follow a specified reference path or reach the desired positions in 2DOF (two degrees of freedom) without violating control input constraints. The conception also incorporates the disturbance rejection requirement. Simulation and experimental results are presented to show that the results of the practical performance are consistent with the simulated results.