Output Observer-based Sensor Fault Detection in Twin Rotor Multiple Input Multiple Output System

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.