TY - GEN
T1 - Design and experimental validation of adaptive fuzzy PID controller for a three degrees of freedom helicopter
AU - González, Hernando
AU - Arizmendi, Carlos
AU - García, Joan
AU - Ánguo, Alexander
AU - Herrera, Cristian
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/10/12
Y1 - 2018/10/12
N2 - This paper presents the design of an adaptive fuzzy PID controller to regulate the elevation, pitch and travel angles of a helicopter with three degrees of freedom (3 DOF). A fuzzy system, Mamdani type, adjusts in real time the proportional, integral and derivative constants of a PID controller, according to the value of the error signal and rate of change the error. The fuzzy controller is tuned based on a mathematical model of the system, which is implemented using the tool called Simulink from Matlab; the transient response in closed loop is evaluated for different values of the reference signal, leading to an iterative process that adjusts the rule base and the constants of the controller, with the objective of stabilizing the system, decreasing the overshoot and the settling time. The experimental validation is done using a prototype built by the authors; the transient response of the simulated data is compared against the experimental data, for the three degrees of freedom of the helicopter: elevation, pitch and travel angles, observing that the mathematical model adjusts to the dynamic of the prototype and the conditions of design are fulfilled.
AB - This paper presents the design of an adaptive fuzzy PID controller to regulate the elevation, pitch and travel angles of a helicopter with three degrees of freedom (3 DOF). A fuzzy system, Mamdani type, adjusts in real time the proportional, integral and derivative constants of a PID controller, according to the value of the error signal and rate of change the error. The fuzzy controller is tuned based on a mathematical model of the system, which is implemented using the tool called Simulink from Matlab; the transient response in closed loop is evaluated for different values of the reference signal, leading to an iterative process that adjusts the rule base and the constants of the controller, with the objective of stabilizing the system, decreasing the overshoot and the settling time. The experimental validation is done using a prototype built by the authors; the transient response of the simulated data is compared against the experimental data, for the three degrees of freedom of the helicopter: elevation, pitch and travel angles, observing that the mathematical model adjusts to the dynamic of the prototype and the conditions of design are fulfilled.
KW - 3 DOF Helicopter
KW - Fuzzy PID controller
KW - Mamdani type fuzzy system
KW - PID controller
UR - http://www.scopus.com/inward/record.url?scp=85060435942&partnerID=8YFLogxK
U2 - 10.1109/FUZZ-IEEE.2018.8491512
DO - 10.1109/FUZZ-IEEE.2018.8491512
M3 - Libros de Investigación
AN - SCOPUS:85060435942
T3 - IEEE International Conference on Fuzzy Systems
BT - 2018 IEEE International Conference on Fuzzy Systems, FUZZ 2018 - Proceedings
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 IEEE International Conference on Fuzzy Systems, FUZZ 2018
Y2 - 8 July 2018 through 13 July 2018
ER -