Design and experimental validation of adaptive fuzzy PID controller for a three degrees of freedom helicopter

Hernando González, Carlos Arizmendi, Joan García, Alexander Ánguo, Cristian Herrera

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

4 Scopus citations

Abstract

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.

Original languageEnglish
Title of host publication2018 IEEE International Conference on Fuzzy Systems, FUZZ 2018 - Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781509060207
DOIs
StatePublished - 12 Oct 2018
Event2018 IEEE International Conference on Fuzzy Systems, FUZZ 2018 - Rio de Janeiro, Brazil
Duration: 8 Jul 201813 Jul 2018

Publication series

NameIEEE International Conference on Fuzzy Systems
Volume2018-July
ISSN (Print)1098-7584

Conference

Conference2018 IEEE International Conference on Fuzzy Systems, FUZZ 2018
Country/TerritoryBrazil
CityRio de Janeiro
Period8/07/1813/07/18

Keywords

  • 3 DOF Helicopter
  • Fuzzy PID controller
  • Mamdani type fuzzy system
  • PID controller

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