Fractional Order Sliding Mode Controller for the Twin Rotor MIMO System

In this paper, designing of Fractional Order Sliding Mode Controller (FOSMC) for Twin Rotor MIMO System (TRMS) is done. The sliding surface in fractional order for TRMS is formulated, and control input of TRMS is derived by decoupling the system, i.e., neglecting the inter dependency between both (horizontal and vertical) planes. The stability and the convergence of the decoupled control input in finite time is verified through Lyapunov’s criteria for stability. The parameters like angle error, sliding surface, control law for horizontal plane and the vertical plane are separately matched with the Sliding Mode Control (SMC) in MATLAB/Simulation. Overall controlled trajectory after combining trajectory of vertical plane and horizontal plane respectively is obtained, and the chattering effect due to SMC is dampened out to considerable rate.