Implementation of a Low-cost Prototype of Twin Rotor for academic studies in identification, optimal control and stochastic filtering

Abstract

This paper presents some design aspects related to the construction of a Low-cost Prototype of Twin Rotor MIMO System (TRMS) for the purpose of academic studies. Filtering and data fusion are used to extract reliable angles measurements from the sensors. The mathematical modeling of the prototype is done, and its parameters are obtained with linear identification, allowing the design of a feedback LQG controller. The proposed LQG controller is compared with a PID controller tuned by Genetic Algorithm (GA) in preliminary tracking experiments. The advantages of the LQG control is showed both in simulation and on the real set-up.