A Novel Fuzzy-Sliding and Fuzzy-Integral-Sliding Controller for the Twin-Rotor Multi-Input–Multi-Output System

In this paper, a novel fuzzy-sliding and fuzzy-integral-sliding controller (FSFISC) is designed to position the yaw and pitch angles of a twin-rotor multi-input-multi-output system (TRMS). With the coupling effects, which are considered as the uncertainties, the highly coupled nonlinear TRMS is pseudodecomposed into a horizontal subsystem and a vertical subsystem (VS). The proposed FSFISC consists of a fuzzy-sliding controller and an FISC for the horizontal and the VSs, respectively. The reaching conditions and the stability of the TRMS with the proposed controller are guaranteed. Simulation results are included to indicate that TRMS with the presented FSFISC can greatly alleviate the chattering effect and remain robust to the external disturbances. In addition, the performance comparisons with the proportional-integral-differential (PID) approach using a modified real-value-type genetic algorithm are provided to show that the FSFISC has better performance in the aspects of error and control indexes.

[1]  Jun Yang,et al.  Fuzzy Model-Based Robust Networked Control for a Class of Nonlinear Systems , 2009, IEEE Transactions on Systems, Man, and Cybernetics - Part A: Systems and Humans.

[2]  Chin-Wang Tao,et al.  Adaptive fuzzy sliding mode controller for linear systems with mismatched time-varying uncertainties , 2003, IEEE Trans. Syst. Man Cybern. Part B.

[3]  Liang-Rui Chen,et al.  Improvement of the Twin Rotor MIMO System Tracking and Transient Response Using Fuzzy Control Technology , 2006, 2006 1ST IEEE Conference on Industrial Electronics and Applications.

[4]  Chin-Wang Tao,et al.  Fuzzy Swing-Up and Fuzzy Sliding-Mode Balance Control for a Planetary-Gear-Type Inverted Pendulum , 2009, IEEE Transactions on Industrial Electronics.

[5]  Jih-Gau Juang,et al.  PID Control Using Presearched Genetic Algorithms for a MIMO System , 2008, IEEE Trans. Syst. Man Cybern. Part C.

[6]  Fuzzy Logic in Control Systems : Fuzzy Logic , 2022 .

[7]  Keng Peng Tee,et al.  Adaptive Neural Network Control for Helicopters in Vertical Flight , 2008, IEEE Transactions on Control Systems Technology.

[8]  V. Utkin.  Variable structure systems with sliding modes , 1977 .

[9]  Chin-Wang Tao,et al.  Robust fuzzy control for a plant with fuzzy linear model , 2005, IEEE Transactions on Fuzzy Systems.

[10]  John Y. Hung,et al.  Variable structure control: a survey , 1993, IEEE Trans. Ind. Electron..

[11]  M. G. Ortega,et al.  A Multivariable Nonlinear H ∞ Controller for a Laboratory Helicopter , 2005 .

[12]  M.G. Ortega,et al.  A Multivariable Nonlinear H∞Controller for a Laboratory Helicopter , 2005, Proceedings of the 44th IEEE Conference on Decision and Control.

[13]  Chin-Wang Tao,et al.  Adaptive fuzzy terminal sliding mode controller for linear systems with mismatched time-varying uncertainties , 2004, IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics).

[14]  Jun Yang,et al.  T-S Fuzzy-Model-Based Robust $H_{\infty}$ Design for Networked Control Systems With Uncertainties , 2007, IEEE Transactions on Industrial Informatics.

[15]  C.-K. Lin,et al.  Nonsingular Terminal Sliding Mode Control of Robot Manipulators Using Fuzzy Wavelet Networks , 2006, IEEE Transactions on Fuzzy Systems.

[16]  Chin-Wang Tao,et al.  Sliding mode controller for linear systems with mismatched time-varying uncertainties , 2000, J. Frankl. Inst..

[17]  Jih-Gau Juang,et al.  Comparison of classical control and intelligent control for a MIMO system , 2008, Appl. Math. Comput..

[18]  Ji-Hyuck Yang,et al.  Twin Rotors System Modeling and Bumpless Transfer Implementation Algorithm for LQ Control , 2006, 2006 SICE-ICASE International Joint Conference.

[19]  Jacob S. Glower,et al.  Designing fuzzy controllers from a variable structures standpoint , 1997, IEEE Trans. Fuzzy Syst..

[20]  Yongming Li,et al.  Adaptive fuzzy backstepping robust control for uncertain nonlinear systems based on small-gain approach , 2010, Fuzzy Sets Syst..

[21]  Alok Sinha,et al.  Sliding Mode Output Feedback Control of Time-Varying Mismatched Uncertain Systems , 2006, 2006 IEEE International Conference on Systems, Man and Cybernetics.

[22]  Peng Wen,et al.  Decoupling control of a twin rotor mimo system using robust deadbeat control technique , 2008 .

[23]  Chih-Lyang Hwang,et al.  A stable adaptive fuzzy sliding-mode control for affine nonlinear systems with application to four-bar linkage systems , 2001, IEEE Trans. Fuzzy Syst..