Real Time Experimental control and Design of FOPIλ and L-PID Controllers tuned by Invasiveweed optimization for Trajectory Control of TRAS

This article presents formational designing and real time experimental validation of Fractional order- Proportional integral (FOPI
^λ
) and Linear-Proportional Integral Derivative (L-PID) controllers for trajectory stabilization of Twin Rotor Aerial System (TRAS) which is conceded as helicopter model having pitch and yaw actuators for hovering of TRMS in vertical and horizontal planes respectively. Both the controller parameters are tuned using robust metamorphic algorithm called Invasive Weed Optimization. The control performances of both the designed controllers are examined for trajectory tracking and time taken to stabilize after the given manual disturbances. It is experimentally validated that FOPI
^λ
shows superior and robust control behavior then L-PID for benchmark TRAS plant.