Adaptive Fuzzy Type-2 in Control of 2-DOF Helicopter

In the present article, type-2 fuzzy controllers (T2FLC) are designed to control position of yaw and pitch angles of the Twin Rotor Multi-input Multi-output System (TRMS) characterized with nonlinear dynamics and uncertainties. Type-2 fuzzy control method is preferred to capture uncertainties and input and output external disturbances. In the presented approach, two independent type-2 fuzzy controllers are designed. Performance of each control scheme is examined under a number of simulations, furthermore some performance indexes to highlight the advantages of the controllers. The results of tracking and disturbance/load rejection tests are compared with the results obtained from conventional fuzzy controller and PID controller. It is the fact that presented diagrams and tabulated results showed that present control approach provided significant advantages over the compared controllers. 

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