Real-Time Implementation of Neuro Adaptive Observer-Based Robust Backstepping Controller for Twin Rotor Control System
作者： Bhanu Pratap , Shubhi Purwar
DOI: 10.1007/S40313-013-0098-Y
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摘要: In this paper, a robust backstepping controller based on the neuro adaptive observer for twin rotor multiple-input-multiple-output (MIMO) system is designed and implemented in real time. The MIMO (TRMS) belongs to class of nonlinear uncertain having unstable, coupled dynamics. Nonlinearities TRMS are estimated using Chebyshev neural network. A tuning scheme Lyapunov theory stability developed which can guarantee boundedness tracking error weights proposed observer-based control guarantees closed-loop errors converge small residual sets presence constraints input. effectiveness illustrated through simulation experimental results. time implementation has been carried out real-time MATLAB tool box Advantech PCI1711 card.
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