Robust adaptive fuzzy control of twin rotor MIMO system

被引：32

作者：

Jahed, Maryam ^{[1
]}

Farrokhi, Mohammad ^{[1
]}

机构：

[1] Iran Univ Sci & Technol, Dept Elect Engn, Tehran, Iran

来源：

SOFT COMPUTING | 2013年 / 17卷 / 10期

关键词：

Adaptive fuzzy controller; Twin rotor MIMO system; Gradient descent algorithm; Lyapunov stability; MODEL INVERSION CONTROL; INTELLIGENT CONTROL; NONLINEAR-SYSTEMS; RGA;

D O I：

10.1007/s00500-013-1026-6

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

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.

引用

页码：1847 / 1860

页数：14

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