Said Khan, Samir Bendoukha, Wasif Naeem, Jamshed Iqbal
Experimental Validation of an Integral Sliding Mode-Based LQG for the Pitch Control of a UAV-mimicking Platform
Číslo: 3/2019
Periodikum: Advances in Electrical and Electronic Engineering
DOI: 10.15598/aeee.v17i3.3031
Klíčová slova: Experimental set-up; Integral Sliding Mode control; Linear Quadrature Gaussian; optimal dynamic control; Twin rotor MIMO system.
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In the proposed scheme, an ISM enhancement to an LQG has been introduced, which attempts to overcome modelling inaccuracies and uncertainties. The novelty of the proposed control law lies in hybridizing a robust control approach with an optimal control law to achieve improved performance. Experimental results on the TRMS demonstrate that the ISM-LQG strategy significantly improves the tracking performance of the TRMS pitch and hence confirm the applicability and efficiency of the proposed scheme.