Trajectory tracking of a 2-DOF helicopter system using neuro-fuzzy system with parameterized conjunctors

In this study, the aim is to track the desired pitch and yaw axis trajectories of a 2-DOF helicopter system. For this purpose, neuro-fuzzy system with parameterized conjunctors is used and its performance is compared with a conventional control approach, namely a PID controller. In neuro-fuzzy methods, in order to obtain an optimal fuzzy model, the most commonly used approach is to tune the parameters of the membership functions at the antecedent part of the fuzzy rules. This adaptation process may lead to loss or distortion of the knowledge that is carried by these membership functions. To alleviate this problem, the parameters of the parameterized conjunctors are tuned instead of the parameters of these membership functions.