Design and experimental validation of single input type-2 fuzzy pid controllers as applied to 3 DOF helicopter testbed

Mohit Mehndiratta; Erdal Kayacan; Tufan Kumbasar

doi:10.1109/FUZZ-IEEE.2016.7737879

Design and experimental validation of single input type-2 fuzzy pid controllers as applied to 3 DOF helicopter testbed

Mohit Mehndiratta, Erdal Kayacan, Tufan Kumbasar

Department of Control and Automation Engineering

Nanyang Technological University

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

24 Citations (Scopus)

Abstract

The aim of this paper is to present experimental validation results to show the design simplicity of single input interval type-2 (IT2) fuzzy PID (FPID) controllers by evaluating their performance on a real-time 3 DOF helicopter testbed. In this study, we briefly show that the presented analytical design approach gives the opportunity to construct the IT2 fuzzy mappings by tuning a single parameter which constructs the footprint of uncertainty (FOU) of the IT2 fuzzy sets. Then, by employing these theoretical analyses, various single input IT2 FPID (SIT2-FPID) controllers are designed to solve the control problem of the 3 DOF helicopter. Through extensive and comparative experimental analysis, we analyze the IT2 fuzzy control system performances and validate the effect of the FOU parameter on the controller characteristics. The experimental results show that, having neither a priori knowledge about the mathematical model of the system nor its parameters, the SIT2- FPID is able to achieve a satisfactory control performance over nonlinear working regions in the presence of noise and unmodelled disturbance dynamics. We believe that the experimental validation of the SIT2-FPID controllers' theoretical analyses will open the door to a wider deployment of SIT2-FPIDs to real world control engineering applications.

Original language	English
Title of host publication	2016 IEEE International Conference on Fuzzy Systems, FUZZ-IEEE 2016
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1584-1591
Number of pages	8
ISBN (Electronic)	9781509006250
DOIs	https://doi.org/10.1109/FUZZ-IEEE.2016.7737879
Publication status	Published - 7 Nov 2016
Event	2016 IEEE International Conference on Fuzzy Systems, FUZZ-IEEE 2016 - Vancouver, Canada Duration: 24 Jul 2016 → 29 Jul 2016

Publication series

Name	2016 IEEE International Conference on Fuzzy Systems, FUZZ-IEEE 2016

Conference

Conference	2016 IEEE International Conference on Fuzzy Systems, FUZZ-IEEE 2016
Country/Territory	Canada
City	Vancouver
Period	24/07/16 → 29/07/16

Bibliographical note

Publisher Copyright:
© 2016 IEEE.

Funding

The authors would like to acknowledge the support provided by Nanyang Technological University under grant M4081382 and M4011423.

Funders	Funder number
Nanyang Technological University	M4081382, M4011423

Keywords

Experimental validation
Footprint of uncertainty
Interval type-2 fuzzy pid controller
Quanser 3 dof helicopter

Access to Document

10.1109/FUZZ-IEEE.2016.7737879

Cite this

Mehndiratta, M., Kayacan, E., & Kumbasar, T. (2016). Design and experimental validation of single input type-2 fuzzy pid controllers as applied to 3 DOF helicopter testbed. In 2016 IEEE International Conference on Fuzzy Systems, FUZZ-IEEE 2016 (pp. 1584-1591). Article 07737879 (2016 IEEE International Conference on Fuzzy Systems, FUZZ-IEEE 2016). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/FUZZ-IEEE.2016.7737879

Mehndiratta, Mohit ; Kayacan, Erdal ; Kumbasar, Tufan. / Design and experimental validation of single input type-2 fuzzy pid controllers as applied to 3 DOF helicopter testbed. 2016 IEEE International Conference on Fuzzy Systems, FUZZ-IEEE 2016. Institute of Electrical and Electronics Engineers Inc., 2016. pp. 1584-1591 (2016 IEEE International Conference on Fuzzy Systems, FUZZ-IEEE 2016).

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abstract = "The aim of this paper is to present experimental validation results to show the design simplicity of single input interval type-2 (IT2) fuzzy PID (FPID) controllers by evaluating their performance on a real-time 3 DOF helicopter testbed. In this study, we briefly show that the presented analytical design approach gives the opportunity to construct the IT2 fuzzy mappings by tuning a single parameter which constructs the footprint of uncertainty (FOU) of the IT2 fuzzy sets. Then, by employing these theoretical analyses, various single input IT2 FPID (SIT2-FPID) controllers are designed to solve the control problem of the 3 DOF helicopter. Through extensive and comparative experimental analysis, we analyze the IT2 fuzzy control system performances and validate the effect of the FOU parameter on the controller characteristics. The experimental results show that, having neither a priori knowledge about the mathematical model of the system nor its parameters, the SIT2- FPID is able to achieve a satisfactory control performance over nonlinear working regions in the presence of noise and unmodelled disturbance dynamics. We believe that the experimental validation of the SIT2-FPID controllers' theoretical analyses will open the door to a wider deployment of SIT2-FPIDs to real world control engineering applications.",

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Mehndiratta, M, Kayacan, E & Kumbasar, T 2016, Design and experimental validation of single input type-2 fuzzy pid controllers as applied to 3 DOF helicopter testbed. in 2016 IEEE International Conference on Fuzzy Systems, FUZZ-IEEE 2016., 07737879, 2016 IEEE International Conference on Fuzzy Systems, FUZZ-IEEE 2016, Institute of Electrical and Electronics Engineers Inc., pp. 1584-1591, 2016 IEEE International Conference on Fuzzy Systems, FUZZ-IEEE 2016, Vancouver, Canada, 24/07/16. https://doi.org/10.1109/FUZZ-IEEE.2016.7737879

Design and experimental validation of single input type-2 fuzzy pid controllers as applied to 3 DOF helicopter testbed. / Mehndiratta, Mohit; Kayacan, Erdal; Kumbasar, Tufan.
2016 IEEE International Conference on Fuzzy Systems, FUZZ-IEEE 2016. Institute of Electrical and Electronics Engineers Inc., 2016. p. 1584-1591 07737879 (2016 IEEE International Conference on Fuzzy Systems, FUZZ-IEEE 2016).

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

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Mehndiratta M, Kayacan E, Kumbasar T. Design and experimental validation of single input type-2 fuzzy pid controllers as applied to 3 DOF helicopter testbed. In 2016 IEEE International Conference on Fuzzy Systems, FUZZ-IEEE 2016. Institute of Electrical and Electronics Engineers Inc. 2016. p. 1584-1591. 07737879. (2016 IEEE International Conference on Fuzzy Systems, FUZZ-IEEE 2016). doi: 10.1109/FUZZ-IEEE.2016.7737879

Design and experimental validation of single input type-2 fuzzy pid controllers as applied to 3 DOF helicopter testbed

Abstract

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Keywords

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