Input Shaping enhanced Active Disturbance Rejection Control for a twin rotor multi-input multi-output system (TRMS)

In this paper, a composite control based on Active Disturbance Rejection Control (ADRC) and Input Shaping is presented for TRMS with two degrees of freedom (DOF). The control tasks consist of accurately tracking desired trajectories and obtaining disturbance rejection in both horizontal and vertical planes. Due to un-measurable states as well as uncertainties stemming from modeling uncertainty and unknown disturbance torques, ADRC is employed, and feed-forward Input Shaping is used to improve the dynamical response. In the proposed approach, because the coupling effects are maintained in controller derivation, there is no requirement to decouple the TRMS into horizontal and vertical subsystems, which is usually performed in the literature. Finally, the proposed method is implemented on the TRMS platform, and the results are compared with those of PID and ADRC in a similar structure. The experimental results demonstrate the effectiveness of the proposed method. The operation of the controller allows for an excellent set-point tracking behavior and disturbance rejection with system nonlinearity and complex coupling conditions.