Implementation of Fuzzy-PID Controller for 2-DOF Helicopter
DOI:
https://doi.org/10.59247/jfsc.v2i2.204Keywords:
Fuzzy-PID control, PID Control, 2 Dof-Helicopter, Brushless MotorAbstract
This article presents the model and control of a 2-DOF helicopter, a multi-input multi-output (MIMO) system that is set up in the laboratory. The conventional mathematical model, employing the Euler-Lagrange method, is utilized in this study to conduct the system modeling process. The transfer functions derived from this model are then incorporated into diverse control methodologies to optimize PID gain coefficients. The PID controllers are employed to control this system. In addition, we use a Fuzzy controller to adjust the Kp, Ki, and Kd coefficients of this PID. As a result, we obtain a fuzzy PID controller with superior control quality than a PID controller. Under Fuzzy-PID, the system operates more stably, overcoming some weaknesses of the PID linear controller. The state space model is built by considering specific design assumptions and simplifications. Results are obtained through simulation and testing on the model.
References
A. C. Aras and O. Kaynak, "Trajectory tracking of a 2-DOF helicopter system using neuro-fuzzy system with parameterized conjunctors," 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, pp. 322-326, 2014, https://doi.org/10.1109/AIM.2014.6878099.
M. Hernandez-Gonzalez, A. Y. Alanis, and E. A. Hernández-Vargas, “Decentralized discrete-time neural control for a Quanser 2-DOF helicopter,” Applied Soft Computing, vol. 12, no. 8, pp. 2462-2469, 2012, https://doi.org/10.1016/j.asoc.2012.02.016.
S. Labdai, L. Chrifi-Alaoui, S. Drid, L. Delahoche and P. Bussy, "Real-Time Implementation of an Optimized Fractional Sliding mode Controller on the Quanser-Aero helicopter," 2020 International Conference on Control, Automation and Diagnosis (ICCAD), pp. 1-6, 2020, https://doi.org/10.1109/ICCAD49821.2020.9260546.
A.P. S. Ramalakshmi, P. S. Manoharan, and P. Deepamangai, “PID tuning and control for 2-DOF helicopter using particle swarm optimization,” In Swarm, Evolutionary, and Memetic Computing: 4th International Conference, SEMCCO 2013, Chennai, India, December 19-21, 2013, Proceedings, Part I 4, pp. 662-672, 2013, https://doi.org/10.1007/978-3-319-03753-0_59.
A. P. S. Ramalakshmi and P. S. Manoharan, "Non-linear modeling and PID control of twin rotor MIMO system," 2012 IEEE International Conference on Advanced Communication Control and Computing Technologies (ICACCCT), pp. 366-369, 2012, https://doi.org/10.1109/ICACCCT.2012.6320804.
S. K. Pandey and V. Laxmi, "Control of twin rotor MIMO system using PID controller with derivative filter coefficient," 2014 IEEE Students' Conference on Electrical, Electronics and Computer Science, pp. 1-6, 2014, https://doi.org/10.1109/SCEECS.2014.6804451.
M. I. Uddin, R. K. Sharma, R. Kumar and E. Deenadayalan, "Adaptive Backstepping Control of 2-DOF Helicopter System Under Parametric Uncertainty," 2023 International Conference on Power, Instrumentation, Control and Computing (PICC), pp. 1-6, 2023, https://doi.org/10.1109/PICC57976.2023.10142491.
W. Gao and Z. -P. Jiang, "Data-driven adaptive optimal output-feedback control of a 2-DOF helicopter," 2016 American Control Conference (ACC), pp. 2512-2517, 2016, https://doi.org/10.1109/ACC.2016.7525294.
Q. Ahmed, A. I. Bhatti, S. Iqbal and I. H. Kazmi, "2-sliding mode based robust control for 2-DOF helicopter," 2010 11th International Workshop on Variable Structure Systems (VSS), Mexico City, Mexico, 2010, pp. 481-486, 2010, https://doi.org/10.1109/VSS.2010.5544531.
S. S. Butt, R. Prabel and H. Aschemann, "Multi-variable flatness-based control of a helicopter with two degrees of freedom," 2014 International Conference on Control, Decision and Information Technologies (CoDIT), Metz, France, 2014, pp. 321-326, 2014, https://doi.org/10.1109/CoDIT.2014.6996914.
H. Tahersima and A. Fatehi, "Nonlinear identification and MIMO control of a laboratory helicopter using genetic algorithm," 2008 Annual IEEE India Conference, Kanpur, India, 2008, pp. 286-291, 2008, https://doi.org/10.1109/INDCON.2008.4768841.
N. Johnson and S. K. Kannan, “Adaptive trajectory control for autonomous helicopters,” Journal of Guidance, Control, and Dynamics, vol. 28, no. 3, pp. 524–538, 2005, https://doi.org/10.2514/1.6271.
L. Zhang, Shaojie Bi and Hong Yang, "Fuzzy-PID control algorithm of the helicopter model flight attitude control," 2010 Chinese Control and Decision Conference, pp. 1438-1443, 2010, https://doi.org/10.1109/CCDC.2010.5498216.
I. Anshory, I. Robandi, W. Wirawan, and J. Jamaaluddin, “Identification and implementation hybrid fuzzy logic and PID controller for speed control of BLDC motor,” In Journal of Physics: Conference Series, vol. 1402, no. 3, p. 033080, 2019, https://doi.org/10.1088/1742-6596/1402/3/033080.
Maouche and I. Eker, “Adaptive Fuzzy Type-2 in Control of 2-DOF Helicopter,” International Journal of Electronics and Electrical Engineering, vol. 5, no. 2, pp. 99-105, 2017, https://doi.org/10.18178/ijeee.5.2.99-105.
M. Öztürk and I. Özkol, “Comparison of self-tuned Neuro-Fuzzy controllers on 2 DOF helicopter: an application,” SN Applied Sciences, vol. 3, no. 1, p. 124, 2021, https://doi.org/10.1007/s42452-020-03984-5.
Downloads
Published
How to Cite
Issue
Section
License
Copyright (c) 2024 Thanh-Do Huynh, Ngoc-Thanh Bach, Quang-Dao Le, Duong-Dong Le, Viet-Hoang Bui, Hoai-An Vo, Viet-Nhat-Long Nguyen, Phi-Hung Pham, Huu-Dat Nguyen, Van-Dong-Hai Nguyen
This work is licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.
