Abstract
This paper deals with the design of fuzzy controller and observer for a Twin Rotor MIMO System (TRMS). Twin Rotor MIMO System is the prototype of a helicopter with two degrees of freedom which involves significant cross coupling between the main rotor and the tail rotor. A Takagi-Sugeno (T-S) fuzzy model is used to approximate the nonlinear dynamics of the system. With the derived T-S fuzzy model, a fuzzy controller is designed that guarantees not only stability but also satisfies the specified performance criteria of the closed-loop control system. A set of inequalities is formed based on the Lyapunov sufficient condition to ensure stability of the T-S fuzzy model using a parallel distributor fuzzy compensator. The controller gains are obtained by solving the set of inequalities. A fuzzy observer is also designed to estimate the states of the system.
Published Version
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