Robust Prescribed Time Backstepping for Stabilization and Tracking of 2-DOF Twin Rotor Model

This paper deals with the robust control for the finite-time stabilization and tracking of The Twin Rotors Multivariable System(TRMS). Taking advantage of the particular state model structure (Strict Feedback Form), a nonlinear control system based on backstepping algorithm is used. The Prescribed Time (PT) technique is employed to achieve pitch and yaw angle convergence in a finite time chosen by the user.The stability of the closed loop system is examined using Lyapunov theory. The suggested scheme’s control efficiency is evaluated by comparing it to results obtained using the adaptive backstepping control technique. The comparison results demonstrate higher performance of the suggested controller.