Disturbance Observer-based Model Predictive Control for a Twin Rotor MIMO System
DOI:
https://doi.org/10.61467/2007.1558.2027.v18i1.1489Keywords:
Disturbance Observer, Model Predictive Control, Twin Rotor, Observador de perturbaciones, control predictivo basado en modelo, sistema de doble rotorAbstract
This paper presents a disturbance observer–based model predictive control strategy for the position regulation of a twin rotor MIMO system (TRMS). The nonlinear dynamics of the TRMS are first rewritten as an uncertain linear time invariant (LTI) system with additive disturbances. An extended state observer (ESO) is then designed to estimate both the system states and the lumped disturbance term. Using these estimates, a composite model predictive control law is formulated to achieve robust tracking performance of the desired positions of the TRMS. Simulation results demonstrate the effectiveness of the proposed control scheme.
Acknowledgements
The authors thank the Ministry of Science, Humanities, Technology and Innovation (SECIHTI), Mexico, for the doctoral scholarship awarded to the first author of this paper, No. 4052738. Part of this work was carried out using AI. Microsoft Copilot was used to assist with preliminary drafting, text consistency checks, and automatic LaTeX code generation for some equations.
Spanish-language metadata / Metadatos en español
Título en español:
Control predictivo basado en modelo con observador de perturbaciones para un sistema MIMO de doble rotor
Resumen:
Este artículo presenta una estrategia de control predictivo basado en modelo con observador de perturbaciones para la regulación de la posición de un sistema MIMO de doble rotor (TRMS). En primer lugar, la dinámica no lineal del TRMS se reformula como un sistema lineal e invariante en el tiempo (LTI) incierto con perturbaciones aditivas. Posteriormente, se diseña un observador de estado extendido (ESO) para estimar tanto los estados del sistema como el término de perturbación agrupada. A partir de estas estimaciones, se formula una ley de control predictivo basado en modelo compuesta para lograr un seguimiento robusto de las posiciones deseadas del TRMS. Los resultados de simulación demuestran la eficacia del esquema de control propuesto.
Palabras Claves:
Observador de perturbaciones, control predictivo basado en modelo, sistema de doble rotor.
Smart citations:
References
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