Disturbance rejection for a 2-DOF nonlinear helicopter model by using MIMO fuzzy sliding mode control with boundary layer
In this paper, one helicopter model with two degrees of freedom (2-DOF) is controlled by fuzzy sliding mode control with boundary layer (FSMC-BL) while exposed to disturbance. The model is a nonlinear and multi-input multi-output (MIMO) system that requires a MIMO, robust, stable, and nonlinear cont...
| Main Authors: | , , , , |
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| Format: | Conference or Workshop Item |
| Language: | English |
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IEEE
2012
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| Online Access: | http://psasir.upm.edu.my/id/eprint/41097/1/Disturbance%20rejection%20for%20a%202-DOF%20nonlinear%20helicopter%20model%20by%20using%20MIMO%20fuzzy%20sliding%20mode%20control%20with%20boundary%20layer.pdf |
| _version_ | 1796973868413353984 |
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| author | Zaeri, Amir Hossein Mohd Noor, Samsul Bahari Mohd Isa, Maryam Taip, Farah Saleena Marnani, Aida Esmaeilian |
| author_facet | Zaeri, Amir Hossein Mohd Noor, Samsul Bahari Mohd Isa, Maryam Taip, Farah Saleena Marnani, Aida Esmaeilian |
| author_sort | Zaeri, Amir Hossein |
| collection | UPM |
| description | In this paper, one helicopter model with two degrees of freedom (2-DOF) is controlled by fuzzy sliding mode control with boundary layer (FSMC-BL) while exposed to disturbance. The model is a nonlinear and multi-input multi-output (MIMO) system that requires a MIMO, robust, stable, and nonlinear control to reject the disturbance. These requirements have been satisfied by SMC. In this paper, boundary layer removes the chattering phenomenon and fuzzy logic tunes the switching gains of SMC control law online. The simulation results which are achieved for step and sinusoidal disturbances applied to both pitch and yaw angles, are compared with those of PID control based on linear quadratic regulator algorithm (LQR-PID). Considerable improvement in control signal and yaw angle is observed by using FSMC-BL. |
| first_indexed | 2024-03-06T08:48:54Z |
| format | Conference or Workshop Item |
| id | upm.eprints-41097 |
| institution | Universiti Putra Malaysia |
| language | English |
| last_indexed | 2024-03-06T08:48:54Z |
| publishDate | 2012 |
| publisher | IEEE |
| record_format | dspace |
| spelling | upm.eprints-410972018-03-30T06:55:37Z http://psasir.upm.edu.my/id/eprint/41097/ Disturbance rejection for a 2-DOF nonlinear helicopter model by using MIMO fuzzy sliding mode control with boundary layer Zaeri, Amir Hossein Mohd Noor, Samsul Bahari Mohd Isa, Maryam Taip, Farah Saleena Marnani, Aida Esmaeilian In this paper, one helicopter model with two degrees of freedom (2-DOF) is controlled by fuzzy sliding mode control with boundary layer (FSMC-BL) while exposed to disturbance. The model is a nonlinear and multi-input multi-output (MIMO) system that requires a MIMO, robust, stable, and nonlinear control to reject the disturbance. These requirements have been satisfied by SMC. In this paper, boundary layer removes the chattering phenomenon and fuzzy logic tunes the switching gains of SMC control law online. The simulation results which are achieved for step and sinusoidal disturbances applied to both pitch and yaw angles, are compared with those of PID control based on linear quadratic regulator algorithm (LQR-PID). Considerable improvement in control signal and yaw angle is observed by using FSMC-BL. IEEE 2012 Conference or Workshop Item PeerReviewed text en http://psasir.upm.edu.my/id/eprint/41097/1/Disturbance%20rejection%20for%20a%202-DOF%20nonlinear%20helicopter%20model%20by%20using%20MIMO%20fuzzy%20sliding%20mode%20control%20with%20boundary%20layer.pdf Zaeri, Amir Hossein and Mohd Noor, Samsul Bahari and Mohd Isa, Maryam and Taip, Farah Saleena and Marnani, Aida Esmaeilian (2012) Disturbance rejection for a 2-DOF nonlinear helicopter model by using MIMO fuzzy sliding mode control with boundary layer. In: 3rd International Conference on Intelligent Systems Modelling and Simulation, 8-10 Feb. 2012, Kota Kinabalu, Sabah. (pp. 411-416). 10.1109/ISMS.2012.129 |
| spellingShingle | Zaeri, Amir Hossein Mohd Noor, Samsul Bahari Mohd Isa, Maryam Taip, Farah Saleena Marnani, Aida Esmaeilian Disturbance rejection for a 2-DOF nonlinear helicopter model by using MIMO fuzzy sliding mode control with boundary layer |
| title | Disturbance rejection for a 2-DOF nonlinear helicopter model by using MIMO fuzzy sliding mode control with boundary layer |
| title_full | Disturbance rejection for a 2-DOF nonlinear helicopter model by using MIMO fuzzy sliding mode control with boundary layer |
| title_fullStr | Disturbance rejection for a 2-DOF nonlinear helicopter model by using MIMO fuzzy sliding mode control with boundary layer |
| title_full_unstemmed | Disturbance rejection for a 2-DOF nonlinear helicopter model by using MIMO fuzzy sliding mode control with boundary layer |
| title_short | Disturbance rejection for a 2-DOF nonlinear helicopter model by using MIMO fuzzy sliding mode control with boundary layer |
| title_sort | disturbance rejection for a 2 dof nonlinear helicopter model by using mimo fuzzy sliding mode control with boundary layer |
| url | http://psasir.upm.edu.my/id/eprint/41097/1/Disturbance%20rejection%20for%20a%202-DOF%20nonlinear%20helicopter%20model%20by%20using%20MIMO%20fuzzy%20sliding%20mode%20control%20with%20boundary%20layer.pdf |
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