Bayesian dynamic modelling and tracking control for flexible manoeuvring systems

This paper presents an investigation into the development of a dynamic modelling and feedback control scheme for rigid body motion control of a twin rotor multi-input multi-output system (TRMS) in hovering mode. The proposed approach is based on a two stage methodology: (i) the dynamic parametric model is developed using the Bayesian paradigm; several validation tests are conducted for assessing the suitability of the model; (ii) development of a feedback control law comprising a three term PID compensator for rigid body motion control of the TRMS in the hovering mode. The developed control strategy is designed and implemented within the simulation environment of the TRMS rig using the Bayesian model. The performance of the proposed control scheme is assessed in terms of output tracking. This is accomplished by comparing the system response with the controller to one without control action (open loop configuration). The results have shown that improved closed loop tracking of the reference signal implies good damping and hence tighter control.