Determining the Parameters of the Controllers of the TRMS System Using The Cuckoo Algorithm

İzcier E., Almalı M. N., Parlar İ., Çabuker A. C.

2nd International Conference on Scientific and Academic Research, Konya, Turkey, 14 - 17 March 2023, vol.1, pp.51-57

  • Publication Type: Conference Paper / Full Text
  • Volume: 1
  • City: Konya
  • Country: Turkey
  • Page Numbers: pp.51-57
  • Van Yüzüncü Yıl University Affiliated: Yes


The twin rotor multiple-input multiple output (TRMS) system, which emerged as the prototype of the helicopter, is a non-linear system. It is very difficult to find the controller coefficient in the control of non-linear systems. Apart from classical methods, metaheuristic algorithms based on the behavior of animal herds can be used to find the coefficients of PID and derivative controllers. Metaheuristic algorithms search for coefficients within the lower and upper limits determined by the population created outside of the classical coefficient finding methods. While doing this search, it performs optimization in each iteration. In the search made in iterations, the power and performance of the algorithm is determined by the objective function of that algorithm. The stronger the objective function used, the stronger the coefficients obtained can control the non-linear system. In the study, the coefficients of the PID and modified I-PD controller were found by the Cuckoo algorithm for the two degrees of freedom (2-DOF) pitch and yaw angles in TRMS to reach the reference values. The coefficients found were compared for pitch and yaw angles in TRMS both in terms of linearized transfer functions and on the model based on the physical model of TRMS. As a result, when the overshoot time, settling time and rise times were examined, it was seen that the transfer function model of the TRMS system gave more successful results.