T-S fuzzy model based controller and observer design for a Twin Rotor MIMO System

Author

Saroj, D.K. ; Kar, I.

Author_Institution

Dept. of Electron. & Electr. Eng., Indian Inst. of Technol., Guwahati, Guwahati, India

fYear

2013

fDate

7-10 July 2013

Firstpage

1

Lastpage

8

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.

Keywords

Lyapunov methods; MIMO systems; aircraft control; closed loop systems; control system synthesis; fuzzy control; nonlinear dynamical systems; observers; stability; Lyapunov sufficient condition; T-S fuzzy model based controller design; TRMS; Takagi-Sugeno fuzzy model; closed-loop control system; cross coupling; fuzzy observer design; helicopter; main rotor; parallel distributor fuzzy compensator; stability; state estimation; system nonlinear dynamics; tail rotor; twin rotor MIMO system; Asymptotic stability; Control systems; MIMO; Mathematical model; Rotors; Stability analysis; Transmission line measurements; Fuzzy Observer; LMI Techniques; Parallel Distributed Compensator; Takagi-Sugeno (T-S) Fuzzy Model; Twin Rotor MIMO System (TRMS);

fLanguage

English

Publisher

ieee

Conference_Titel

Fuzzy Systems (FUZZ), 2013 IEEE International Conference on

Conference_Location

Hyderabad

ISSN

1098-7584

Print_ISBN

978-1-4799-0020-6

Type

conf

DOI

10.1109/FUZZ-IEEE.2013.6622388

Filename

6622388