Abstract
In this paper, a novel Generalized Dynamic Inversion with Sliding Mode Control (GDI-SMC) approach is developed for the position control of the well known Twin Rotor Multiple-Input-Multiple-Output (MIMO) System (TRMS). The proposed controller is established by the combination of equivalent control and the switching control elements. The equivalent control element encompasses the constraint dynamics as a function of attitude error norm, that determines the control objectives, and the control law is realized by inverting the constraint dynamics using dynamically scaled Moore-Penrose Generalized Inverse. The involved null control vector in equivalent control provides global asymptotic stability to the body rate dynamics. The switching control part is designed by utilizing the Constant-proportional rate reaching law and is responsible to enhance the robustness, while guaranteeing semi-global practically stable attitude tracking. Computer simulators are executed on the dynamical model of TRMS, to demonstrate the controller's performance.