Robust H∞ Control Approach for Trajectory Tracking of Twin Rotor MIMO System

Abstract

The paper emphasis a simplified H∞ control strategy designed for trajectory tracking control for (TRMS) i.e. twin rotor multi-input multi-output system. Twin Rotor MIMO System (TRMS) is a benchmarked non-linear aero dynamical laboratory model having striking comparison like a helicopter but it doesn't fly. It is having 2-DOF (Degree of freedom), which corresponds to pitch and yaw angles determining the vertical and horizontal position of the TRMS. This paper elaborates a robust H∞ controller designed strategy for cross-coupled TRMS model as it guarantees robustness and good performance. The performance of the controller is tested and response of yaw and pitch are experimentally obtained through extensive simulation in MATLAB.