Variable Structure PID Control for Multivariable Attitude Stabilization Under Cross Axis Coupling in Helicopter Systems
Öz
Cross-axis torque coupling degrades transient performance in multivariable rotary wing attitude systems when fixed gain PID controllers are tuned under single loop assumptions. Variable structure PID control introduces state dependent switching between predefined gain sets and offers a low order approach for modifying transient behavior without increasing controller complexity. This study evaluates fixed gain and variable structure PID control on a coupled pitch yaw helicopter platform modeled as a linearized two input two output system with explicit torque interaction. Switching logic selects aggressive or damping gains based on the sign of the error and its derivative. In this paper, closed loop responses are assessed using overshoot, peak deviation, settling behavior, and integral of absolute error under identical reference commands and actuator conditions. The switching configuration reduces transient amplification and cumulative tracking deviation in the axis most influenced by coupling while maintaining comparable convergence characteristics in the less affected axis. The observed axis dependent behavior aligns with asymmetry in the plant coupling structure. These results indicate that state dependent gain modulation within a classical PID framework improves disturbance rejection in coupled attitude dynamics and provides a practical control strategy for multivariable UAV and eVTOL stabilization problems.
Anahtar Kelimeler
Variable structure PID, Multivariable attitude control, Cross axis coupling, Gain switching, MIMO systems
Teşekkür
Kaynakça
- [1] E. Kurniawan et al., “Attitude tracking of a multivariable 3-DoF helicopter via decentralized repetitive control,” J. Franklin Inst., vol. 362, no. 10, p. 107737, 2025, doi: 10.1016/j.jfranklin.2025.107737.
- [2] F. Gopmandal and A. Ghosh, “LQR-based MIMO PID control of a 2-DOF helicopter system with uncertain cross-coupled gain,” IFAC-PapersOnLine, vol. 55, no. 22, pp. 183–188, 2022, doi: 10.1016/j.ifacol.2023.03.031.
- [3] S. Mate, P. Pal, A. Jaiswal, and S. Bhartiya, “Simultaneous tuning of multiple PID controllers for multivariable systems using deep reinforcement learning,” Digit. Chem. Eng., vol. 9, no. August, p. 100131, 2023, doi: 10.1016/j.dche.2023.100131.
- [4] F. Alyoussef and I. Kaya, “Simple PI-PD tuning rules based on the centroid of the stability region for controlling unstable and integrating processes,” ISA Trans., vol. 134, pp. 238–255, 2023, doi: 10.1016/j.isatra.2022.08.007.
- [5] F. Alyoussef, A. Abdallah, and A. Farahat, “Robust optimal fractional-order proportional-integral and proportional-derivative controller design for integrating systems with time delays : Real-time application to quadrotors,” ISA Trans., 2025, doi: 10.1016/j.isatra.2025.10.026.
- [6] F. Alyoussef and I. Kaya, “Proportional–integral and proportional–derivative controller design based on analytically computed centroid point for controlling integrating processes,” Proc. Inst. Mech. Eng. Part I J. Syst. Control Eng., 2023, doi: 10.1177/09596518221143815.
- [7] F. Alyoussef and M. I. Alam, “Double-Integral Synergetic Control with Integral Backstepping for Robust PMSM Performance,” in 2025 29th International Conference on System Theory, Control and Computing (ICSTCC), IEEE, 2025, pp. 907–912. doi: 10.1109/ICSTCC66753.2025.11240458.
- [8] F. Alyoussef and I. Kaya, “Improved Adaptive Dynamic Non-singular Terminal Sliding Mode Controller with,” Inf. Sci. (Ny)., p. 119110, 2023, doi: 10.1016/j.ins.2023.119110.
- [9] F. Alyoussef and I. Kaya, “A New Dynamic Sliding Mode Controller with Disturbance Observer for Controlling Integrating Processes with Time Delay,” Int. J. Control, vol. 97, no. 5, pp. 1136–1156, 2023, doi: 10.1080/00207179.2023.2201649.
- [10] I. Boiko, “Variable-structure PID controller for level process,” Control Eng. Pract., vol. 21, no. 5, pp. 700–707, 2013, doi: 10.1016/j.conengprac.2012.04.004.