Design of travel angle control of quanser bench-top helicopter using mamdani-based fuzzy logic controller

Mansor, Hasmah and Gunawan, Teddy Surya and Janin, Zuriati (2020) Design of travel angle control of quanser bench-top helicopter using mamdani-based fuzzy logic controller. Indonesian Journal of Electrical Engineering and Computer Science, 17 (2). pp. 815-824. ISSN 2502-4752,

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Abstract

This research focuses on travel angle control of a laboratory scale bench-top helicopter developed by Quanser Inc. Bench top-helicopter is usually used by engineers and researchers to test their designed controllers before applying to the actual helicopter. Bench-top helicopter has the same behavior as the real helicopter, with 3 degree of freedom. The bench-top helicopter is mounted on a flat surface with two rotors that depends on the voltage supplied to change the direction of the helicopter in 3 different angles. The movement of the helicopter is based on the direction of three-different angles; travel, pitch and yaw angles. The existing Linear Quadratic Regulator-Integral controller used by Quanser Inc has some limitations in terms of tracking capability and settling time; therefore, this research is proposed. The objective of this research is to develop Mamdani-based Fuzzy Logic Controller for travel angle control of bench-top helicopter. Performance comparison has been done with the existing Linear Quadratic Regulator-Integral controller in both simulation and hardware. From the test results, it was found that the performance of Fuzzy Logic Controller is better than LQR-I controller especially for closed-loop simulation at desired angle of 30°. The percentage of overshoot of the Fuzzy Logic Controller has been improved from the existing controller which is 4.912% compared to 7.002% for LQR-I.

Item Type:	Article (Journal)
Additional Information:	4158/77581
Uncontrolled Keywords:	Bench-top helicopter Linear quadratic integral controller Mamdani-based fuzzy logic controller Travel angle control
Subjects:	T Technology > T Technology (General)
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button):	Kulliyyah of Engineering > Department of Electrical and Computer Engineering
Depositing User:	Dr Hasmah Mansor
Date Deposited:	21 Jan 2020 11:35
Last Modified:	12 Nov 2020 15:55
URI:	http://irep.iium.edu.my/id/eprint/77581

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