Experimental validation of an integral sliding mode-based LQG for the pitch control of a UAV-mimicking platform

Said Ghani Khan; Samir Bendoukha; Wasif Naeem; Jamshed Iqbal

doi:10.15598/aeee.v17i3.3031

Experimental validation of an integral sliding mode-based LQG for the pitch control of a UAV-mimicking platform

Said Ghani Khan, Samir Bendoukha, Wasif Naeem, Jamshed Iqbal

School of Electronics, Electrical Engineering and Computer Science

Research output: Contribution to journal › Article › peer-review

14 Citations (Scopus)

149 Downloads (Pure)

Abstract

In this paper, an enhanced Integral Sliding Mode-based Linear Quadratic Gaussian (ISM-LQG) controller has been proposed and verified in real-time on a Twin Rotor multi-input-multi-output MIMO System (TRMS). A TRMS serves as a suitable laboratorybased platform to evaluate the performance of control algorithms for complex Unmanned Aerial Vehicle (UAV) systems such as rotocraft. In the proposed scheme, an ISM enhancement to an LQG has been introduced, which attempts to overcome modelling inaccuracies and uncertainties. The novelty of the proposed control law lies in hybridizing a robust control approach with an optimal control law to achieve improved performance. Experimental results on the TRMS demonstrate that the ISM-LQG strategy significantly improves the tracking performance of the TRMS pitch and hence confirm the applicability and efficiency of the proposed scheme.

Original language	English
Pages (from-to)	275-284
Number of pages	10
Journal	Advances in Electrical and Electronic Engineering
Volume	17
Issue number	3
DOIs	https://doi.org/10.15598/aeee.v17i3.3031
Publication status	Published - Sept 2019

Keywords

Experimental set-up
Integral Sliding Mode control
Linear Quadrature Gaussian
Optimal dynamic control
Twin rotor MIMO system

ASJC Scopus subject areas

Electrical and Electronic Engineering

Access to Document

10.15598/aeee.v17i3.3031Licence: CC BY

Experimental Validation of an Integral Sliding Mode-Based LQG for the Pitch Control of a UAV-mimicking Platform
Copyright 2019 the authors. This is an open access article published under a Creative Commons Attribution License (https://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution and reproduction in any medium, provided the author and source are cited.
Final published version, 1.75 MBLicence: CC BY

Cite this

@article{25fbb9fa98d54ea1bc1713a8eb783f86,

title = "Experimental validation of an integral sliding mode-based LQG for the pitch control of a UAV-mimicking platform",

abstract = "In this paper, an enhanced Integral Sliding Mode-based Linear Quadratic Gaussian (ISM-LQG) controller has been proposed and verified in real-time on a Twin Rotor multi-input-multi-output MIMO System (TRMS). A TRMS serves as a suitable laboratorybased platform to evaluate the performance of control algorithms for complex Unmanned Aerial Vehicle (UAV) systems such as rotocraft. In the proposed scheme, an ISM enhancement to an LQG has been introduced, which attempts to overcome modelling inaccuracies and uncertainties. The novelty of the proposed control law lies in hybridizing a robust control approach with an optimal control law to achieve improved performance. Experimental results on the TRMS demonstrate that the ISM-LQG strategy significantly improves the tracking performance of the TRMS pitch and hence confirm the applicability and efficiency of the proposed scheme.",

keywords = "Experimental set-up, Integral Sliding Mode control, Linear Quadrature Gaussian, Optimal dynamic control, Twin rotor MIMO system",

author = "Khan, {Said Ghani} and Samir Bendoukha and Wasif Naeem and Jamshed Iqbal",

year = "2019",

month = sep,

doi = "10.15598/aeee.v17i3.3031",

language = "English",

volume = "17",

pages = "275--284",

journal = "Advances in Electrical and Electronic Engineering",

issn = "1336-1376",

publisher = "Bentham Science Publishers",

number = "3",

}

TY - JOUR

T1 - Experimental validation of an integral sliding mode-based LQG for the pitch control of a UAV-mimicking platform

AU - Khan, Said Ghani

AU - Bendoukha, Samir

AU - Naeem, Wasif

AU - Iqbal, Jamshed

PY - 2019/9

Y1 - 2019/9

N2 - In this paper, an enhanced Integral Sliding Mode-based Linear Quadratic Gaussian (ISM-LQG) controller has been proposed and verified in real-time on a Twin Rotor multi-input-multi-output MIMO System (TRMS). A TRMS serves as a suitable laboratorybased platform to evaluate the performance of control algorithms for complex Unmanned Aerial Vehicle (UAV) systems such as rotocraft. In the proposed scheme, an ISM enhancement to an LQG has been introduced, which attempts to overcome modelling inaccuracies and uncertainties. The novelty of the proposed control law lies in hybridizing a robust control approach with an optimal control law to achieve improved performance. Experimental results on the TRMS demonstrate that the ISM-LQG strategy significantly improves the tracking performance of the TRMS pitch and hence confirm the applicability and efficiency of the proposed scheme.

AB - In this paper, an enhanced Integral Sliding Mode-based Linear Quadratic Gaussian (ISM-LQG) controller has been proposed and verified in real-time on a Twin Rotor multi-input-multi-output MIMO System (TRMS). A TRMS serves as a suitable laboratorybased platform to evaluate the performance of control algorithms for complex Unmanned Aerial Vehicle (UAV) systems such as rotocraft. In the proposed scheme, an ISM enhancement to an LQG has been introduced, which attempts to overcome modelling inaccuracies and uncertainties. The novelty of the proposed control law lies in hybridizing a robust control approach with an optimal control law to achieve improved performance. Experimental results on the TRMS demonstrate that the ISM-LQG strategy significantly improves the tracking performance of the TRMS pitch and hence confirm the applicability and efficiency of the proposed scheme.

KW - Experimental set-up

KW - Integral Sliding Mode control

KW - Linear Quadrature Gaussian

KW - Optimal dynamic control

KW - Twin rotor MIMO system

UR - http://www.scopus.com/inward/record.url?scp=85073545783&partnerID=8YFLogxK

U2 - 10.15598/aeee.v17i3.3031

DO - 10.15598/aeee.v17i3.3031

M3 - Article

AN - SCOPUS:85073545783

SN - 1336-1376

VL - 17

SP - 275

EP - 284

JO - Advances in Electrical and Electronic Engineering

JF - Advances in Electrical and Electronic Engineering

IS - 3

ER -

Experimental validation of an integral sliding mode-based LQG for the pitch control of a UAV-mimicking platform

Abstract

Keywords

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this