An Improved Fuzzy Parallel Distributed –Like Controller for Multi-Input Multi-Output Twin Rotor System

Mahmoud, Thair Sh. (2009) An Improved Fuzzy Parallel Distributed –Like Controller for Multi-Input Multi-Output Twin Rotor System. Masters thesis, Universiti Putra Malaysia.

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Abstract

Twin Rotor Multi Input Multi Output (MIMO) System (TRMS) is a laboratory set-up design for which it has been used for control experiments, control theories developments, and applications of the autonomous helicopter. Fuzzy Logic Control (FLC) has been widely used with different control schemes to cope with control objectives of TRMS. In this work, Self Tuning Fuzzy PD-like Controller (STFPDC) is proposed to make the response of FLC more robust to the interactions and the non-linearity of the process in terms of less rising time, settling time and overshoot. Adaptive Neuro Fuzzy Inference System (ANFIS) based Fuzzy Subtractive Clustering Method (FSCM) was used to remodel the proposed STFPDC to achieve the control objectives on TRMS with less number of rules. MATLAB/SIMULINK was involved to achieve the simulations in this work. The results showed the proposed controller could simplify the STFPDC to reduce the number of rules from 392 to 73, which is even less than the original FLC that has 196 rules. The conclusion of this work is improving FLC response by using STFPDC and reducing the number of rules used to achieve this improvement by using ANFIS based on FSCM modeling. For future works, it is recommended to develop an optimization algorithm which achieves best selection for the range of influence which gives best response with less number of rules.

Item Type:Thesis (Masters)
Chairman Supervisor:Associate Professor Tang Sai Hong, PhD
Call Number:FK 2009 72
Faculty or Institute:Faculty of Engineering
ID Code:7810
Deposited By: Nurul Hayatie Hashim
Deposited On:20 Sep 2010 03:21
Last Modified:27 May 2013 07:36

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