Adaptive Control of Twin Rotor MIMO System Using Fuzzy Logic

In this paper, an intelligent adaptive controller is designed to position the yaw and pitch angles of a twin rotor MIMO system (TRMS) in two degrees of freedom, based on fuzzy logic. The control objective is to make the TRMS move quickly and accurately to the desired attitudes. Gradient descent algorithm has been used for updating parameters of fuzzy controller in order to increase its robustness against external disturbances and changes of system parameters. Experimental results is compared with the PID controller to show the effectiveness of the proposed method, especially when it encounters system uncertainties and external disturbances

Keywords:

Adaptive fuzzy controller , Twin rotor MIMO system , Gradient descent algorithm