Real time implementation of fuzzy gain-scheduled PID controller for twin rotor MIMO system (TRMS)

Abstract

The work has done in this paper concern a strategy of control based on real time implementation of backstepping sliding mode using the interval type-2 fuzzy logic and their application to the Twin Rotor MIMO System (TRMS), the backstepping sliding mode controller are the problem of the chattering phenomenon, this can damage the actuators and disrupt the operation and performance of the system, so to reduce this problem we combine the fuzzy logic type 2. The proposed techniques were applied to the TRMS, where the real time implementation of type-2 fuzzy backstepping sliding mode controller (T2FBSMC) were proposed for control system in the presence of external distrubances. The interval type-2 fuzzy logic is used to minimize the major problem of sliding mode and employed in the stability analysis. The obtained simulation and experiment results confirm the effectiveness of the proposed method.