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Design of Multiple Sliding Surface Controller for Twin Rotor MIMO Systems with Mismatched Uncertainties 원문보기

  • 저자

    Nguyen Van Quan

  • 학위수여기관

    공주대학교 대학원

  • 학위구분

    국내석사

  • 학과

    전기전자제어공학과

  • 지도교수

    현창호

  • 발행년도

    2014

  • 총페이지

    v, 38 p.

  • 키워드

    MSS mismatched model uncertainties TRMS;

  • 언어

    kor

  • 원문 URL

    http://www.riss.kr/link?id=T13532658&outLink=K  

  • 초록

    In this thesis, a multiple sliding surface (MSS) controller for the twin rotor multi-input-multi-output system (TRMS) with mismatched model uncertainties is proposed. The nonlinear terms in model are regarded as model uncertainties and the MSS control technique is adopted to overcome them which do not satisfy the standard matching condition. In order to control the position of TRMS, the system dynamics are pseudo decomposed into horizontal and vertical subsystems and two MSSs are separately designed for each subsystem. The stability of the TRMS with the proposed controller are guaranteed by Lyapunov stability theory. For the verification of the proposed scheme, some simulation results are given. Besides, the real time performances of the TRMS with the MSS controller shows the effectiveness of proposed controller.


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