Title :
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
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);
Conference_Titel :
Fuzzy Systems (FUZZ), 2013 IEEE International Conference on
Conference_Location :
Hyderabad
Print_ISBN :
978-1-4799-0020-6
DOI :
10.1109/FUZZ-IEEE.2013.6622388
