Controlling 3-DOF helicopter via fuzzy PID controller

Kamil Karaman; Yusuf Talha Bekaroǧlu; Mehmet Turan Söylemez; Kemal Uçak; Gülay Öke Günel

doi:10.1109/ELECO.2015.7394494

Controlling 3-DOF helicopter via fuzzy PID controller

Kamil Karaman, Yusuf Talha Bekaroǧlu, Mehmet Turan Söylemez, Kemal Uçak, Gülay Öke Günel

Department of Control and Automation Engineering

Istanbul Technical University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

4 Citations (Scopus)

Abstract

In this paper, the real time tracking performance of the fuzzy PID controller has been evaluated on nonlinear 3-DOF helicopter system. Quanser 3-DOF helicopter system has been utilized as experimental setup. Three separate fuzzy PID 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.

Original language	English
Title of host publication	ELECO 2015 - 9th International Conference on Electrical and Electronics Engineering
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	869-873
Number of pages	5
ISBN (Electronic)	9786050107371
DOIs	https://doi.org/10.1109/ELECO.2015.7394494
Publication status	Published - 28 Jan 2016
Event	9th International Conference on Electrical and Electronics Engineering, ELECO 2015 - Bursa, Turkey Duration: 26 Nov 2015 → 28 Nov 2015

Publication series

Name	ELECO 2015 - 9th International Conference on Electrical and Electronics Engineering

Conference

Conference	9th International Conference on Electrical and Electronics Engineering, ELECO 2015
Country/Territory	Turkey
City	Bursa
Period	26/11/15 → 28/11/15

Bibliographical note

Publisher Copyright:
© 2015 Chamber of Electrical Engineers of Turkey.

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

Access to Document

10.1109/ELECO.2015.7394494

Cite this

Karaman, K., Bekaroǧlu, Y. T., Söylemez, M. T., Uçak, K., & Günel, G. Ö. (2016). Controlling 3-DOF helicopter via fuzzy PID controller. In ELECO 2015 - 9th International Conference on Electrical and Electronics Engineering (pp. 869-873). Article 7394494 (ELECO 2015 - 9th International Conference on Electrical and Electronics Engineering). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ELECO.2015.7394494

Karaman, Kamil ; Bekaroǧlu, Yusuf Talha ; Söylemez, Mehmet Turan et al. / Controlling 3-DOF helicopter via fuzzy PID controller. ELECO 2015 - 9th International Conference on Electrical and Electronics Engineering. Institute of Electrical and Electronics Engineers Inc., 2016. pp. 869-873 (ELECO 2015 - 9th International Conference on Electrical and Electronics Engineering).

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abstract = "In this paper, the real time tracking performance of the fuzzy PID controller has been evaluated on nonlinear 3-DOF helicopter system. Quanser 3-DOF helicopter system has been utilized as experimental setup. Three separate fuzzy PID 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.",

author = "Kamil Karaman and Bekaroǧlu, {Yusuf Talha} and S{\"o}ylemez, {Mehmet Turan} and Kemal U{\c c}ak and G{\"u}nel, {G{\"u}lay {\"O}ke}",

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Karaman, K, Bekaroǧlu, YT, Söylemez, MT, Uçak, K & Günel, GÖ 2016, Controlling 3-DOF helicopter via fuzzy PID controller. in ELECO 2015 - 9th International Conference on Electrical and Electronics Engineering., 7394494, ELECO 2015 - 9th International Conference on Electrical and Electronics Engineering, Institute of Electrical and Electronics Engineers Inc., pp. 869-873, 9th International Conference on Electrical and Electronics Engineering, ELECO 2015, Bursa, Turkey, 26/11/15. https://doi.org/10.1109/ELECO.2015.7394494

Controlling 3-DOF helicopter via fuzzy PID controller. / Karaman, Kamil; Bekaroǧlu, Yusuf Talha; Söylemez, Mehmet Turan et al.
ELECO 2015 - 9th International Conference on Electrical and Electronics Engineering. Institute of Electrical and Electronics Engineers Inc., 2016. p. 869-873 7394494 (ELECO 2015 - 9th International Conference on Electrical and Electronics Engineering).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Günel, Gülay Öke

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AB - In this paper, the real time tracking performance of the fuzzy PID controller has been evaluated on nonlinear 3-DOF helicopter system. Quanser 3-DOF helicopter system has been utilized as experimental setup. Three separate fuzzy PID 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.

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Karaman K, Bekaroǧlu YT, Söylemez MT, Uçak K, Günel GÖ. Controlling 3-DOF helicopter via fuzzy PID controller. In ELECO 2015 - 9th International Conference on Electrical and Electronics Engineering. Institute of Electrical and Electronics Engineers Inc. 2016. p. 869-873. 7394494. (ELECO 2015 - 9th International Conference on Electrical and Electronics Engineering). doi: 10.1109/ELECO.2015.7394494

Controlling 3-DOF helicopter via fuzzy PID controller

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Bibliographical note

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