Title :
Controlling 3-DOF helicopter via fuzzy PID controller
Author :
Kamil Karaman;Yusuf Talha Bekaro?lu;Mehmet Turan S?ylemez;Kemal U?ak;G?lay ?ke G?nel
Author_Institution :
Istanbul Technical University, Faculty of Electrical-Electronics, Department Of Control and Automation Engineering, Ayazaga Campus, 34469, Istanbul, Turkey
Abstract :
In this paper, the real time tracking performance of the fuzzy PID controller has been evaluated on nonlinear 3-DOF helicopter system. Quanser 3-DOF helicopter system has been utilized as experimental setup. Three separate fuzzy PID controller have been employed so as to control three state of the system. The dynamics of the system has been altered via counterweight in order to examine the performances of the both controller for parametric uncertainty in system parameter. The results reveal that the fuzzy PID controller leads to a good tracking performance and has better parametric uncertainty rejection capability than LQR.
Keywords :
"Helicopters","Mathematical model","Uncertainty","Control systems","Robustness","Aerospace control","Fuzzy control"
Conference_Titel :
Electrical and Electronics Engineering (ELECO), 2015 9th International Conference on
DOI :
10.1109/ELECO.2015.7394494
