Trajectory Tracking Control of TRMS using FO-PID and FOI-PD Controllers: An Experiment

Abstract

The emphasis of this paper is to develop and design the controllers in the modes of Fractional Order- Proportional Integral Derivative and Fractional Order Integral- Proportional Derivative for stabilization of benchmarked Twin Rotor Multiple inputs multiple-output system (TRMS). These controllers have been implemented and compared experimentally for the trajectory control of TRMS. Both the controllers are explained, and their parameters are reformed and tuned by using the interior-point nonlinear optimization method (fmincon function) to minimize the cost function of controller parameters. The pitch and yaw trajectory responses of TRMS with both the controllers are experimentally obtained and tested with disturbances at different intervals. It s observed that Fractional Order Integral-Proportional Derivative controller will provide effective trajectory tracking as compared with Fractional Order- Proportional Integral Derivative controller.