Evaluation of Controller Parameters on the Twin Rotor Multiple Input Multiple Output System Using Butterfly-Based Particle Swarm Optimization

Abstract

Studies on the control of nonlinear systems with metaheuristic algorithms are increasing day by day. It is one of the nonlinear systems in the Twin rotor multiple input multiple output (TRMS) system, which emerged as a prototype of helicopters. This system has two control angles horizontally and vertically. In this study, the yaw and pitch angle control parameters of the TRMS system were found using both traditional and butterfly-based particle swarm optimization (BFPSO) method. In experimental studies, reference values of main propeller and tail propeller angles were tried to be reached in TRMS with fractional order proportional-integral-derivative (FOPID), proportional-integral-derivative (PID) and tilt-integral-derivative (TID) controllers.