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This research work presented a model-based controller for a twin rotor multi-input multi-output system on a lab size. The dynamical model of the TRMS is developed using the Euler–Lagrange method and it is considered as a nonlinear two-degree-of-freedom helicopter model. The conventional controller such as PID and LQR controllers is designed and performance is compared. The model-based controller is designated to improve the performance of the system. MPC control algorithms with and without Laguerre functionalities have been implemented. The system’s robustness under various controllers has been compared. When compared to other controllers, the model predictive controller proved to be more efficient.

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Model Predictive Control for Lab-Scale Twin Rotor MIMO System

  • 会议论文

  • 发表日期：

    2025年

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  • S. Kanagalakshmi,
  • K. Kalyani,
  • C. R. Ashima

摘要

This research work presented a model-based controller for a twin rotor multi-input multi-output system on a lab size. The dynamical model of the TRMS is developed using the Euler–Lagrange method and it is considered as a nonlinear two-degree-of-freedom helicopter model. The conventional controller such as PID and LQR controllers is designed and performance is compared. The model-based controller is designated to improve the performance of the system. MPC control algorithms with and without Laguerre functionalities have been implemented. The system’s robustness under various controllers has been compared. When compared to other controllers, the model predictive controller proved to be more efficient.