Position and Trajectory Fuzzy Control of a Laboratory 2 DOF Double Dual Twin Rotor Aerodynamical System

This paper presents a real-time fuzzy control strategy for tracking the trajectory of a laboratory 2 DOF helicopter aero-dynamical system (HADS). In order to control pitch and yaw angles of the aero-dynamical system, 4 different fuzzy logic controllers (FLC) are developed for 4 BLDC motors in HADS. A Mamdani fuzzy inference approach was used in each FLC. The inputs of each FLC are position errors and rate of errors. Integral action and feedforward were applied to reduce the steady-state error of the system. It is seen that fuzzy control of the system developed here is robust to step and ramp-type disturbances. Real-time fuzzy control is embedded in GoogolTech GT-800 Industrial PC. Experimental results confirm that the position and trajectory tracking of HADS is satisfactory and overall system stability has improved using the FLCs. It is also shown that the performance of Fuzzy PD+feedforward is the best.