Abstract:
Complex air vehicles are challenging to analyze due to their highly nonlinear behavior and
considerable cross-coupling interaction. The control of a Twin Rotor Multiple Input Multiple
Output System (TRMS) is difficult due to significant cross-coupling and nonlinear dynamics
that resemble to helicopters. A beam that can freely rotate in both the vertical and horizontal
planes on its base makes up the TRMS. The main rotor and the tail rotor are its two rotors.
Both of these rotors are driven by DC motors. Gyroscopic disturbances and sensor faults in the
rotor motors during rotation can affect the TRMS's stability and input tracking. In this work, an
optimal controller is designed to ensure stability and reference tracking. Furthermore, an
observer is designed to estimate the system outputs for sensor fault detection in TRMS
subjected to deterministic disturbance and norm-bounded uncertainty in system matrix (A)
using Linear Matrix Inequalities (LMIs) technique for TRMS. The effectiveness of reference
tracking and estimation of the system outputs for sensor fault detection has been investigated
through simulation environment.
