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This paper proposes the angle tracking control method for Twin rotor multi-input multipleoutput (TRMS) using the input-to-state stability theory (ISS) for nonlinear systems. To apply this theory, the model of TRMS is rewritten by an Euler-Lagrange forced model with uncertain parameters and input disturbances. | Tạp chí Khoa học và Công nghệ 54 (5) (2016) 672-688 DOI: 10.15625/0866-708X/54/5/6517 ADAPTIVE TRACKING CONTROL FOR TWIN ROTOR MULTIPLE-INPUT MULTIPLE-OUTPUT BASED ON ISS STABILIZATION Nguyen Van Chi1* 1 Thai Nguyen University of Technology, 3/2 Street Tich Luong, Thai Nguyen * Email: ngchi@tnut.edu.vn Received: 30 July 2015; Accepted for publication: 03 August 2016 ABSTRACT This paper proposes the angle tracking control method for Twin rotor multi-input multipleoutput (TRMS) using the input-to-state stability theory (ISS) for nonlinear systems. To apply this theory, the model of TRMS is rewritten by an Euler-Lagrange forced model with uncertain parameters and input disturbances. The uncertain parameters are the potential energies depended on the mass of TRMS’parts and the input disturbances are the considered friction force, flat cable force, and effects of the speed of the main rotor on the horizontal movement and the speed of tail rotor to the vertical movements. Using modificated model of TRMS, we designed the adaptive controller for angle ISS stabilization to attenuate the influences of uncertain parameters and input disturbances to the angles of TRMS. The robustness of the closed system is shown by the the stabilization of the angles with the yaw and pitch external disturbances, the simulation and experimental results help to proof the rightness of proposed method. Keywords: adaptive tracking, Twin rotor multiple-input multiple output, ISS stabilization, robust adaptive feedback control, uncertain systems, Euler-Lagrange forced model. 1. INTRODUCTION The Twin rotor multi-input multiple-output (TRMS) system was manufactured by Feedback Instrument as shown in Fig. 1. TRMS is a fully actuated mechanical system with two links, a horizontal link connected to the tower through a pivot and another link is perpendicular to the horizontal link connected through a rotational joint with propellers attached at both ends. TRMS is a nonlinear system including the .
