Comparative analysis of robust and adaptive control strategies for twin rotor MIMO system

The scientific note presents a comparison of sliding modes based adaptive control strategies based on Twin Rotor MIMO System (TRMS) application. The nonlinearities and cross coupling of main and tail rotors make it a challenging control problem. A much improved control performance of TRMS is achieved by an adaptive gain tuning law based SMC. In addition, the analysis is presented to compare the effectiveness of proposed adaptive SMC and ISMC for robust control of TRMS. Robustness and stability of these controllers is mathematically proved and validated by simulation results.