Akademik Veri Yönetim Sistemi
JOURNAL OF VIBRATION ENGINEERING & TECHNOLOGIES, cilt.12, ss.1-15, 2024 (SCI-Expanded, Scopus)
Abstract
Background
The twin rotor model is frequently studied by researchers because although it has a basic structure the coupled
pitch and yaw motions are adequately represented. However, it is quite difficult to obtain an efficient controller due to external
disturbances. Classical sliding mode controller (SMC), which is of first order, is recognized to be robust in case of parameter
changes and external disturbances especially when the sliding motion takes place, but it possesses chattering in the control
input which may damage the mechanical parts of the system.
Purpose
In this study it was aimed to design a robust controller without chattering effect which will be used for the control
of the twin rotor system in real time experiments.
Methods
To remedy the chattering issue, a novel fuzzy logic enhanced second-order sliding mode controller (FSOSMC)
based on super twisting algorithm is proposed. This controller suppresses chattering while enhancing the robustness of the
controller where the sliding surface slope parameter is updated online via a fuzzy logic unit. Then the proposed controller
is implemented on an experimental twin-rotor system which has highly nonlinear and coupled dynamics.
Results
Real time experiments were performed on the twin rotor system using the proposed FSOSMC. For comparison
purpose the SMC and second-order sliding mode controller (SOSMC) were also applied to the same system. The results
have shown that the proposed controller increased the tracking performance without increasing the control effort while
reducing the chattering.
Conclusions
The experimental results verified the success of the designed FSOSMC, therefore it may be recommended for
the robust and precise control of aerial vehicles.