Experimental and Simulation-Based Performance Analysis of a Computed Torque Control (CTC) Method Running on a Double Rotor Aeromechanical Testbed

Concept of closed loop control appears in many fields engineering sciences, where the output quantity some physical system must be forced to follow prescribed function over time, e.g., when a robotic arm endpoint track desired trajectory or path given as timed series spatial coordinates. The classic approach for solving this kind problem involves PID compensation block, and necessary input signal keeping controlled process vicinity is calculated weighted sum momentary deviation, deviation integral, derivative relative reference path. However, despite obvious advantages, practical usability, simplicity controllers, their performance limited they are utilized controlling nonlinear systems. Even with linear systems, proper operation requires an accurate model precise tuning finding best weight values proportional, effects, planned behavior might change significantly parameters plant time. In article, computed torque-based controller presented, which has only one adjustable parameter ensuring tracking even alternated constants. usability offered algorithm evaluated verified by simulations experiments performed on simple mechanical bi-rotor testbed playing role plant.