A Hybrid H∞ Control Based ILC Design Approach for Trajectory Tracking of a Twin Rotor Aerodynamic System

Abstract

This paper investigates the trajectory tracking problem for a Multi-Input Multi-Output (MIMO) Twin Rotor Aerodynamic System (TRAS) using a hybrid architecture based on an H∞ controller and Iterative Learning Control (ILC). TRAS is a fast, nonlinear coupled system and therefore it is a challenging task to design a control system that ensures the tracking for fast changing trajectories. The controllers proposed in the literature for the TRAS through linear approaches tend to have a large control effort, while the ones designed using the nonlinear approaches track only for smooth input trajectories. Both issues are important from control point of view. In this paper, these issues are addressed by designing a feedback H∞ control that stabilizes the system and a feedforward ILC which reduces the control effort. The H∞ controller achieves the tracking for input trajectories with sharp edges, but the control effort required for tracking is large. With the proposed hybrid approach, tracking is achieved by the H∞ controller whereas the required control effort is reduced in each subsequent iteration by ILC. After a few iterations, accurate tracking at a minimized control effort is achieved. The simulations have been performed using MATLAB software and the controller designed through the proposed approach has been validated on nonlinear model of the system. The results of the proposed technique, compared with the flatness-based and back-stepping control strategies, show that the proposed controller ensures accurate tracking at the reduced control effort.