The University of Southampton
University of Southampton Institutional Repository

Dynmaic modelling and open-loop control of a two-degree-of-freedom twin-rotor multi-input multi-output system

Ahmad, S.M., Chipperfield, A.J. and Tokhi, M.O. (2004) Dynmaic modelling and open-loop control of a two-degree-of-freedom twin-rotor multi-input multi-output system Proceedings of the I MECH E Part I Journal of Systems & Control Engineering, 218, (16), pp. 451-463. (doi:10.1243/0959651052010089).

Record type: Article


A dynamic model for the characterization of a two-degree-of-freedom (DOF) twin-rotor mulit-input multi-output systems (TRMS) in hover is extracted using a black box system identification technique. Its behaviour in certain aspects resembles that of a helicopter, with a significant cross-coupling between longitudinal and lateral directional motions. Hence, it is an interesting identification and control problem. The extracted model is employed for designing and implementing a feedforward/open-loop control. Open-loop control is often the preliminary step for development of more complex feedback cotnrol laws. Hence, this paper also investigates open-loop control strategies using shaped command inputs for resonance suppression in the TRMS. Digital low-pass and band-stop shaped inputs are used on the TRMS test bed, based on the identified vibrational modes. A comparative performance study is carried out and the results presented. The low-pass filter is shown to exhibit better vibration reduction. When modal coupling exists, decoupoled feedback controllers are incapable of eliminating vibration. In such cases, generating motion by shaped reference inputs is clearly advantageous.

PDF ahma_04.pdf - Accepted Manuscript
Download (3MB)

More information

Published date: 2004
Keywords: discrete-time systems, helicopter, linear identification, twin-rotor multi-input multi-output (MIMO) system, open-loop control, vibration supression


Local EPrints ID: 43086
ISSN: 0959-6518
PURE UUID: 0151a2fd-9b1c-4dfa-8d43-9f03e623d91f
ORCID for A.J. Chipperfield: ORCID iD

Catalogue record

Date deposited: 11 Jan 2007
Last modified: 17 Jul 2017 15:19

Export record


Download statistics

Downloads from ePrints over the past year. Other digital versions may also be available to download e.g. from the publisher's website.

View more statistics

Atom RSS 1.0 RSS 2.0

Contact ePrints Soton:

ePrints Soton supports OAI 2.0 with a base URL of

This repository has been built using EPrints software, developed at the University of Southampton, but available to everyone to use.

We use cookies to ensure that we give you the best experience on our website. If you continue without changing your settings, we will assume that you are happy to receive cookies on the University of Southampton website.