Observer based Anti-windup technique for Twin Rotor MIMO System

Necessary control techniques must be used in control systems for their proper and smooth operation even in the case of uncertainties and disturbances like sensor-actuator failure. The TRMS workshop serves as a simplified model of a helicopter retaining most of the important dynamic characteristics and cross coupling. This project aims to solve the problem of synthesizing anti-windup control technique based on observer to avoid controller signal entering into saturation in TRMS. The effects of saturation is that systems experience Integrator wind-up. Once the input saturates, the integral of the error keeps increasing. Any further change in the input does not lead to any change of the output of the saturated component. The system behaves like an open-loop configuration, and no control is available. The project applies a Sliding mode control algorithm to the TRMS and uses an observer as an anti-windup technique so that the system doesn't cease to work even in the case of sensor failure. Using this scheme, the entire system of TRMS along with sensor failure was tested by giving step inputs and the outputs, pitch and yaw were obtained. The results obtained indicated that even in the presence of uncertainties, the system was able to track the given step input without going unstable.