Takagi-Sugeno fuzzy PD controller for a 3-DOF stabilized platform

This paper presents a fuzzy PD control system for stabilizing platform of a ship carried antenna with three degree of freedom (3-DOF). The system under consideration is a system with strong interactions between three channels. By using the concept of decentralized control, a control structure is developed that is composed of three control loops, each of which is associated with a single-variable fuzzy PD controller. Takagi-Sugeno (TS) fuzzy control algorithm is used to implement the fuzzy controller. Numerical simulation using the dynamic model of three DOF stabilized platform shows the effectiveness of the approach in trajectory tracking problems. Comparative evaluation with respect to Mamdani fuzzy PD controller is presented to validate the controller design. The results presented emphasize that a satisfactory tracking precision could be achieved using TS fuzzy PD controller combination than fuzzy PID controller. Simulation results are represented in this paper.