Fault Tolerant Control Based on Direct Adaptive Fuzzy Position Controller for a Helicopter-Like Twin Rotor MIMO System: Design and Real Time Experimentation

In this paper, a direct fuzzy position controller is developed for Twin Rotor MIMO System (TRMS) in robust path following versus actuator faults. This control method relies on estimating an optimal inverse dynamic control to achieve desired trajectory tracking and stability goals. To achieve this objective, a fuzzy system is employed to approximate the ideal inverse dynamic control to the greatest extent feasible. The parameters of the fuzzy system that is employed may be adjusted online according to a stable adaptation rule. The adjustable parameters are created with the aim of reducing the discrepancy between the fuzzy controller and the ideal inverse dynamic control, which is currently unknown. Firstly, the dynamical modelling of the TRMS is carried out. Secondly, a direct fuzzy adaptive control is applied to the TRMS, thirdly, asymptotic stability is proved by utilizing Lyapunov approach. The proposed control is introduced to the TRMS with 2 degree of freedom (DOF) configuration, where the decoupling step is not requiring. Practical results show good trajectory following capability of the developed controller in attendance of actuator faults and parametric variations.