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01-10-2013 | Methodologies and Application

Robust adaptive fuzzy control of twin rotor MIMO system

Authors: Maryam Jahed, Mohammad Farrokhi

Published in: Soft Computing | Issue 10/2013

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Abstract

This paper considers designing an adaptive fuzzy controller to position the yaw and pitch angles of a twin rotor MIMO system (TRMS) in two degrees of freedom. The goal of the controller is to stabilize the TRMS in a desired position or track a specified trajectory. The parameters of the fuzzy controller are updated using the gradient descent algorithm in order to increase its robustness against external disturbances and/or changes in system parameters. Moreover, the stability of the overall closed-loop system is guaranteed based on the Lyapunov stability theory. The proposed controller is applied to a TRMS with heavy cross coupling between its axes. Experimental results show good performance of the proposed controller as compared to the non-adaptive fuzzy and PID controllers, especially when there are system uncertainties and external disturbances.

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Title: Robust adaptive fuzzy control of twin rotor MIMO system
Authors: Maryam Jahed
Mohammad Farrokhi
Publication date: 01-10-2013
Publisher: Springer Berlin Heidelberg
Published in: Soft Computing / Issue 10/2013
Print ISSN: 1432-7643
Electronic ISSN: 1433-7479
DOI: https://doi.org/10.1007/s00500-013-1026-6

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