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Open AccessArticle

Adaptive Interval Type-2 Fuzzy Logic Control of a Three Degree-of-Freedom Helicopter

1
Intelligent Robotic and Energy Systems (IRES), Department of Electronics, Carleton University, Ottawa, ON K1S 5B6, Canada
2
TKE Engineering and Design Inc., 20329 TX-249, Suite 220, Houston, TX 77070, USA
3
École Centrale de Nantes-LS2N, UMR CNRS 6004, 44321 Nantes, France
*
Author to whom correspondence should be addressed.
Robotics 2020, 9(3), 59; https://doi.org/10.3390/robotics9030059
Received: 12 June 2020 / Revised: 21 July 2020 / Accepted: 24 July 2020 / Published: 30 July 2020
(This article belongs to the Special Issue Robotics: Intelligent Control Theory)
This paper combines interval type-2 fuzzy logic with adaptive control theory for the control of a three degree-of-freedom (DOF) helicopter. This strategy yields robustness to various kinds of uncertainties and guaranteed stability of the closed-loop control system. Thus, precise trajectory tracking is maintained under various operational conditions with the presence of various types of uncertainties. Unlike other controllers, the proposed controller approximates the helicopter’s inverse dynamic model and assumes no a priori knowledge of the helicopter’s dynamics or parameters. The proposed controller is applied to a 3-DOF helicopter model and compared against three other controllers, i.e., PID control, adaptive control, and adaptive sliding-mode control. Numerical results show its high performance and robustness under the presence of uncertainties. To better assess the performance of the control system, two quantitative tracking performance metrics are introduced, i.e., the integral of the tracking errors and the integral of the control signals. Comparative numerical results reveal the superiority of the proposed method by achieving the highest tracking accuracy with the lowest control effort. View Full-Text
Keywords: adaptive control; 3-DOF helicopter; uncertainties; type-2 fuzzy logic adaptive control; 3-DOF helicopter; uncertainties; type-2 fuzzy logic
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MDPI and ACS Style

Chaoui, H.; Yadav, S.; Ahmadi, R.S.; Bouzid, A.E.M. Adaptive Interval Type-2 Fuzzy Logic Control of a Three Degree-of-Freedom Helicopter. Robotics 2020, 9, 59.

AMA Style

Chaoui H, Yadav S, Ahmadi RS, Bouzid AEM. Adaptive Interval Type-2 Fuzzy Logic Control of a Three Degree-of-Freedom Helicopter. Robotics. 2020; 9(3):59.

Chicago/Turabian Style

Chaoui, Hicham; Yadav, Sumit; Ahmadi, Rosita S.; Bouzid, Allal E.M. 2020. "Adaptive Interval Type-2 Fuzzy Logic Control of a Three Degree-of-Freedom Helicopter" Robotics 9, no. 3: 59.

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