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Mamdani-based fuzzy logic controller for travel angle control of bench-top helicopter

Bench-top helicopter with 3 Degree of freedom is developed by the Quanser Inc. It is a small-scale helicopter that is used as testing bench for the real helicopter. The bench-top helicopter has the same behavior as the real helicopter and usually used by scientists and engineers to test their contro...

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Main Authors: Mat Esa, Mohamad Khairul Azmi, Mansor, Hasmah, Gunawan, Teddy Surya, Janin, Zuriati
Format: Conference or Workshop Item
Language:English
English
Published: Institute of Electrical and Electronics Engineers Inc. 2019
Subjects:
T Technology (General)
TL500 Aeronautics
Online Access:http://irep.iium.edu.my/71681/1/71681_Mamdani-based%20Fuzzy.pdf
http://irep.iium.edu.my/71681/7/71681%20Mamdani-based%20Fuzzy%20Logic%20Controller%20SCOPUS.pdf
http://irep.iium.edu.my/71681/
https://ieeexplore.ieee.org/document/8688807
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spelling my.iium.irep.716812019-06-11T08:05:37Z http://irep.iium.edu.my/71681/ Mamdani-based fuzzy logic controller for travel angle control of bench-top helicopter Mat Esa, Mohamad Khairul Azmi Mansor, Hasmah Gunawan, Teddy Surya Janin, Zuriati T Technology (General) TL500 Aeronautics Bench-top helicopter with 3 Degree of freedom is developed by the Quanser Inc. It is a small-scale helicopter that is used as testing bench for the real helicopter. The bench-top helicopter has the same behavior as the real helicopter and usually used by scientists and engineers to test their controllers before applying to the real helicopter. The bench-top helicopter is mounted with two rotor that depends on the voltage supplied to it to change the direction. The movement of the helicopter is based on the direction of three-different angles; pitch, travel and yaw angles. A Linear Quadratic Regulator-Integral controller, developed by Quanser is the existing controller that is used to control those three angles of the bench-top helicopter. The main objective of this project is to develop Mamdani-based Fuzzy Logic Controller for travel angle control of bench-top helicopter and compare controller response performance with the existing LQR-I Controller. Thus, Fuzzy Logic Controller has been proposed to replace the existing controller to increase the efficiency of the of the bench-top helicopter performance. Several simulation works have been done to test the Fuzzy Logic Controller performance so that it will produce output response as close to the desired output. Performance comparisons have been done between Fuzzy Logic and LQR-I. At the final stage of the test, the Fuzzy Logic Controller has been applied to the actual hardware. From the results, it can be concluded that the response performance of Fuzzy Logic Controller is better than LQR-I Controller especially for closed-loop simulation at desired angle 30°, the percentage of overshoot/settling time of the Fuzzy Logic Controller is 4.912% whereas the LQR is 7.002%. Institute of Electrical and Electronics Engineers Inc. 2019-04-15 Conference or Workshop Item PeerReviewed application/pdf en http://irep.iium.edu.my/71681/1/71681_Mamdani-based%20Fuzzy.pdf application/pdf en http://irep.iium.edu.my/71681/7/71681%20Mamdani-based%20Fuzzy%20Logic%20Controller%20SCOPUS.pdf Mat Esa, Mohamad Khairul Azmi and Mansor, Hasmah and Gunawan, Teddy Surya and Janin, Zuriati (2019) Mamdani-based fuzzy logic controller for travel angle control of bench-top helicopter. In: 2018 IEEE 5th International Conference on Smart Instrumentation, Measurement and Application (ICSIMA), 28th-30th November 2018, Songkla, Thailand. https://ieeexplore.ieee.org/document/8688807 10.1109/ICSIMA.2018.8688807
institution Universiti Islam Antarabangsa Malaysia
building IIUM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider International Islamic University Malaysia
content_source IIUM Repository (IREP)
url_provider http://irep.iium.edu.my/
language English
English
topic T Technology (General)
TL500 Aeronautics
spellingShingle T Technology (General)
TL500 Aeronautics
Mat Esa, Mohamad Khairul Azmi
Mansor, Hasmah
Gunawan, Teddy Surya
Janin, Zuriati
Mamdani-based fuzzy logic controller for travel angle control of bench-top helicopter
description Bench-top helicopter with 3 Degree of freedom is developed by the Quanser Inc. It is a small-scale helicopter that is used as testing bench for the real helicopter. The bench-top helicopter has the same behavior as the real helicopter and usually used by scientists and engineers to test their controllers before applying to the real helicopter. The bench-top helicopter is mounted with two rotor that depends on the voltage supplied to it to change the direction. The movement of the helicopter is based on the direction of three-different angles; pitch, travel and yaw angles. A Linear Quadratic Regulator-Integral controller, developed by Quanser is the existing controller that is used to control those three angles of the bench-top helicopter. The main objective of this project is to develop Mamdani-based Fuzzy Logic Controller for travel angle control of bench-top helicopter and compare controller response performance with the existing LQR-I Controller. Thus, Fuzzy Logic Controller has been proposed to replace the existing controller to increase the efficiency of the of the bench-top helicopter performance. Several simulation works have been done to test the Fuzzy Logic Controller performance so that it will produce output response as close to the desired output. Performance comparisons have been done between Fuzzy Logic and LQR-I. At the final stage of the test, the Fuzzy Logic Controller has been applied to the actual hardware. From the results, it can be concluded that the response performance of Fuzzy Logic Controller is better than LQR-I Controller especially for closed-loop simulation at desired angle 30°, the percentage of overshoot/settling time of the Fuzzy Logic Controller is 4.912% whereas the LQR is 7.002%.
format Conference or Workshop Item
author Mat Esa, Mohamad Khairul Azmi
Mansor, Hasmah
Gunawan, Teddy Surya
Janin, Zuriati
author_facet Mat Esa, Mohamad Khairul Azmi
Mansor, Hasmah
Gunawan, Teddy Surya
Janin, Zuriati
author_sort Mat Esa, Mohamad Khairul Azmi
title Mamdani-based fuzzy logic controller for travel angle control of bench-top helicopter
title_short Mamdani-based fuzzy logic controller for travel angle control of bench-top helicopter
title_full Mamdani-based fuzzy logic controller for travel angle control of bench-top helicopter
title_fullStr Mamdani-based fuzzy logic controller for travel angle control of bench-top helicopter
title_full_unstemmed Mamdani-based fuzzy logic controller for travel angle control of bench-top helicopter
title_sort mamdani-based fuzzy logic controller for travel angle control of bench-top helicopter
publisher Institute of Electrical and Electronics Engineers Inc.
publishDate 2019
url http://irep.iium.edu.my/71681/1/71681_Mamdani-based%20Fuzzy.pdf
http://irep.iium.edu.my/71681/7/71681%20Mamdani-based%20Fuzzy%20Logic%20Controller%20SCOPUS.pdf
http://irep.iium.edu.my/71681/
https://ieeexplore.ieee.org/document/8688807
_version_ 1643620021101920256
score 13.211869

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