Controlling 3-DOF Helicopter via Fuzzy PID Controller

Karaman K., Bekaroglu Y. T., Söylemez M. T., Ucak K., Öke Günel G.

9th International Conference on Electrical and Electronics Engineering (ELECO), Bursa, Türkiye, 26 - 28 Kasım 2015, ss.869-873 identifier identifier

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Basıldığı Şehir: Bursa
  • Basıldığı Ülke: Türkiye
  • Sayfa Sayıları: ss.869-873
  • İstanbul Teknik Üniversitesi Adresli: Evet

Özet

In this paper, the real time tracking performance of the fuzzy pm controller has been evaluated on nonlinear 3-DOF helicopter system. Quanser 3-DOF helicopter system has been utilized as experimental setup. Three separate fuzzy pm controller have been employed so as to control three state of the system. The dynamics of the system has been altered via counterweight in order to examine the performances of the both controller for parametric uncertainty in system parameter. The results reveal that the fuzzy PID controller leads to a good tracking performance and has better parametric uncertainty rejection capability than LQR.