Evolving fuzzy models for the position control of twin rotor aerodynamic systems

This paper proposes a set of evolving Takagi-Sugeno-Kang (TSK) fuzzy models of the nonlinear dynamics specific to the azimuth and position of Multi Input-Multi Output (MIMO) twin rotor aerodynamic systems. Separate Multi Input-Single Output (MISO) fuzzy models of the azimuth and pitch positions are derived for this MIMO system. The rule bases and the parameters of the MISO TSK fuzzy models are evolved by an online identification algorithm (OIA) that belongs to the class of incremental OIAs, which implement adding mechanisms. The experimental results conducted on aerodynamic system laboratory equipment prove the performance of the TSK fuzzy models by good output responses and root mean square error values. A performance comparison with a set of MISO TSK fuzzy models evolved by another incremental OIA is included.