Fuzzy Logic Based Control of a Dual Rotor MIMO

Akanksha Singh 1, Smita Sharma 2,Suman Avdhesh Yadav3

1Research Scholar, NIT Kurukshetra
Research Scholar, Uttrakhand Technical University
2
3 Lecturer Dept. of CSE. , Amity University, Greater Noida,UP
E-mail: [email protected], [email protected],[email protected]

Abstract: The objective of this paper is to introduce to the dynamics. Consequently, Conventional Control mythologies
simulation community. This tool is also called fuzzy set theory. This based on the linear system theory have to simply / lineralize
paper is contains brief discussion of the current trends in then on linear system before they can be used , but uncertain
simulation Introduction to the fuzzy set is limited to the finite
systems Fuzzy PID controllers provide a promising option for
number of the element. In this paper attention will be devoted to the
fuzzy logic. Fuzzy logic which lends itself to growth in the industrial applications with many desirable features.
simulation of situation that arise in real life either because of
variation of environment or because of the variation of the
available data. Fuzzy controller is used to solve non-linearity of
pitch AND yaw angles of Twin Rotor MIMO system (DRMS).FIS
and Rule base were used to easier the controller and refine the
response. Simulation results under MATLAB proved the
improvement of response using fuzzy logic controller.
Keywords- -fuzzy logic, Rule base, Fuzzy interference system (FIS)
Control system, MATLAB

I. INTRODUCTION

PID is regarded as the standard control structures of the

classical control theory, and fuzzy controllers have positioned
as a counterpart of classical PID controllers on the same
dominant role at the knowledge-rich spectrum .PID controllers
are designed for linear Fig.1 Diagram of Twin Rotor MIMO System
systems and they provide a preferable cost/benefit ratio. Fuzzy
control provides a formal methodology for representing, DRMS is a laboratory set-up designed for control
manipulating, and implementing a human's heuristic experiments. It exemplifies a high-order non-linear system
knowledge about how to control a system. Here design a with significant cross-couplings from control point of view. A
fuzzy PID controller so that response. Fuzzy PID controller laboratory set-up of TRMS is depicted in Fig.1. A detailed
has self tuning ability and on line adaption to non linear approach to control problems connected with TRMS involves
system, time varying, and an uncertain system. In simulation- some theoretical
based analysis Knowledge of law of physics. The main parts of DRMS are
to develop a simulation model of the physical system. The the pedestal, the jib connected to pedestal, and two propellers
simulation model can often be made quite accurate, and you at each end of the jib. These two propellers are driven by two
can include the effect of implementation. Simulations are Direct Current (DC) motors. The system jib can freely rotate
performed on MATLAB/Simulink toolbox to illustrate the around vertical axes by about 330 degree and horizontal axis
performance of the system [1,5]. In contrast with traditional and by about 100 degree. The system inputs are the voltages
linear and nonlinear control theory, a FLC is not based on a used to drive the DC motors of the propellers, and the outputs
mathematical model and is widely used to solve problems are the angular rotations with respect to horizontal and vertical
under uncertain and vague environments, with high axes. A counterbalance arm with a weight at its end is to the
nonlinearities Since their advent, FLCs have been beam at the pivot [6, 12].
implemented successfully in a variety of applications such as
insurance and robotics Fuzzy logic provides certain level of
artificial intelligence to the nonlinearities and offend define
 II. HISTORY merger of hardware and software. FL provides a very easy
way to arrive at a definite result based on uncertain, open to
The concept of Fuzzy Logic (FL) was obtained at the starting more than one interpretation, imprecise, noisy, or missing
of the 70s by Lotfi, a professor at the University of California, input information. FL's approach to control problems mimics
and presented as a type of processing the data accepting the how a person would make decisions, only much fast. Fuzzy
data as a partial set membership instead of non membership. logic is a logical system, which is a fixed extension of multi
This proposal of set theory was not implemented on different valued logic. In a wider sense fuzzy logic (FL), is almost
type of control systems because of the lack of small computer synonymous with the theory of fuzzy sets.
ability. He had given a justification that one do not want exact
numerical data input because they are having the ability of
highly adaptive control

If feedback controllers could bead dress for identification and

the maximum amount of elements is limited for the
communication channel and for the programmed to accept
noisy, imprecise input, they would be much more effective
and perhaps easier to implement. Prescribed; please do not
alter them. It may be noted peculiarities. For example, the
head margin in this template measures proportionately more
than is customary. Fig. 3 Feedback System

Here is a list of general observations about fuzzy logic. Fuzzy

logic is conceptually easy to understand. The mathematical
concepts behind fuzzy reasoning are very simple. Fuzzy logic
is a more intuitive approach without the far-reaching
complexity. Fuzzy logic is flexible. With any given system, it
is easy to layer on more functionality without starting again
from scratch. Fuzzy logic is tolerant of imprecise data.
Everything is imprecise if you look closely enough, but more
than that, most things are imprecise even on careful
inspection.

Fig.2 Diagram of Fuzzy logic Controller

The simplicity of designing these fuzzy logic system has been

the main advantage of their successful implementation over
traditional approaches such as optimal and adaptive control
techniques Even though rules can be developed for many Fig. 4 Fuzzy Logic Controller
control applications, they need to be set up through expert
observation of the process. The complexity in developing Fuzzy reasoning builds this understanding into the process
these rules increases with the complexity of the process. FL of rather than tacking it onto the end. Fuzzy logic can model
a number of parameters that are needed to be selected and nonlinear functions of arbitrary complexity. You can create a
configured in prior, such as selection of scaling factors, fuzzy system to match any set of input output data. This
configuration of the center and width of the membership process is made particularly easy by adaptive techniques like
functions, and selection of the appropriate fuzzy control rule adaptive. Neuro –Fuzzy Inference Systems (ANFIS), which
are available in Fuzzy Logic toolbox. Fuzzy logic can be built
FL is a problem-solving control system methodology that lend on top of the experience of experts. In direct contrast to neural
itself to implementation in systems varying from easy, precise, networks, which take training data and generate opaque,
embedded microcontrollers to big, networked, multi- channel impenetrable models, fuzzy logic lets you rely on the
computers or workstation-based data acquisition and control experience of people who already understand your system.
systems. It can be implemented in hardware, software, or a fuzzy interference system Fuzzy logic can be blended with
conventional control techniques. Fuzzy systems don't
necessarily replace conventional control methods. Fuzzy
systems augment them and simplify their implementation.
Fuzzy logic is based on natural language. The basis for fuzzy
logic is the basis for human communication.
Fuzzy inference is the process of formulating the
mapping from a given input to an output using fuzzy logic.
The mapping then provides a basis from which decisions can
be made, or patterns discerned.The process of fuzzy inference
involves all of the pieces Membership Functions, Logical
Operations, and If-Then Rules. There are two types of fuzzy
inference systems that can be implemented in Fuzzy logic
Toolbox: Mamdani-type and Sugeno-type. Fuzzy interference
systems have been successfully applied in fields such as
automatic control, data classification, decision analysis, Fig. 5 Membership Function
experts systems, and computer vision. Because of its multi
disciplinary nature, fuzzy inference systems are associated
with a number of names, such as fuzzyrule- based systems,
fuzzy expert systems, fuzzy modeling, fuzzy associative
memory, fuzzy logic controllers, and simply fuzzy systems [2,
5, 7, 17].

III. FUZZIFICATION RULESET,FUZZYSET AND

CRISPSET
The inputs are most often hard to measure from some
measuring equipment, rather than linguistic Examples of
preprocessing are: Quantization in connection with sampling
or rounding to integers; normalization or scaling onto a
particular, standard range; filtering in order to remove noise;
averaging to obtain long term or short term tendencies;
combination of several measurements to obtain key indicators
and differentiation and integration
or their discrete equivalences. The rules may use several
variables both in the condition and the conclusion of the rules. Fig. 6 Fuzzy Interference system
The controllers can therefore be applied to both multi-input-
multi-output (MIMO) problems and singleinput- single-output
(SISO) problems. The typical SISO problem is to regulate
control signal based on an error signal. The control objective
is to regulate some process output around a prescribed set
point or reference. The presentation is thus limited to single-
loop control [3, 8, 9, 13].

IV. TEST AND RESULT

In order to understand any elevator algorithm implementation.

Fuzzy Interference System for horizontal part is shown in
figure 5. [4,10,11,14].78 Fig. 7 Diagram of Horizontal part
 Fig. 8 Input Variable 'input1'

Fig. 12 TRMS Control system response for step input

Fig. 9 Input Variable 'input2

Fig. 10 Output Variable 'output

Rule base is as shown in figure 11.

Fig. 13 TRMS Control system response for square input

Fig. 11 Rule base

When Step input is applied to the input of the Horizontal part Fig. 14 TRMS Control system response for square input
of the TRMS system [15, 16].
Figure 14 shows the response of a TRMS control system when
square input is applied on it. It denotes the peek overshoot and
then settled down. When Sine input is applied to the input of
the Horizontal part of the TRMS system.
 REFERENCES

[1] Marcelo Godoy Simoes : ?Introduction to Fuzzy

[2] Control Tang K. S., Man K.F., Chen G. and Kwong S, An
Optimal Fuzzy PID Controller, IEEE Transactions on
Industrial Electronics, Vol. 48, No. 4, pp.757-765, 2001
[3] www.mathwork.com
[4] Mamdani, M (1974): "Application of Fuzzy Algorithm for
Control of Simple Dynamic Plant", Proc. IEE, v. 121
[5] Fuzzy logic with engineering application by Timothy J.
Ross
[6] Sefer Kurnaz ,Omer Cetin and Okyay Kaynak, “Fuzzy
Logic Based Approach to Design of Flight Control and
Navigation Tasks for Autonomous Unmanned Aerial Vehicles
[7] C.C.Lee. “Fuzzy logic in control systems: fuzzy logic
Fig. 15 TRMS Control system response for sine input controller, part II”. IEEE Trans. on Syst., Man, And Cybern.,
Rule Viewer vol. 20, no. 2, pp. 419–435,1990.
[8] Chi-cheng-jou. “Supervised learning in fuzzy systems:
algorithms and computational capabilities”. in Proc. 2nd Int.
Conf. Fuzzy Systems,pp. 1–6, Mar. 1993
[9] Lin, C.T. and George, C.S. (1996). NEURAL FUZZY
SYSTEMS: A Nuero- Fuzzy Synergism to Intelligent
Systems, Upper Saddle River, NJ: Prentice- Hall PTR
[10] Heber, B., Xu, L. andTang, Y. (1997). Fuzzy Logic
Enhanced Speed Control of an Indirect Field- Oriented
Induction Machine Drive. IEEE Transactions on Power
Electronics. 12(5), 772-778.
[11] Marin, J.A., Radtke, R., Innis, D., Barr, D.R.,
Schultz,A.C.: Using a genetic algorithm to develop rules to
guide unmanned aerial vehicles. In: Proceedings of the IEEE
International Conference on Systems, Man, and Cybernetics,
Fig. 14 Rule Viewer vol. 1, pp. 1055–1060. (1999)
[12] FlightGear Open-source Flight Simulator.
Fuzzy Logic Based Control of a Twin Rotor MIMO www.flightgear.org
Surface Viewer [13] Doitsidis, L., Valavanis, K.P., Tsourveloudis, N.C.,
Kontitsis, M.: A framework for fuzzy logic based UAV
navigation and control. In: Proceedings of the International
Conference on Robotics Automation, vol. 4, pp. 4041–4046
(2004)
[14] M.Y. Chow et al., Motor Incipient Fault Detection Using
Artificial Neural Network and Fuzzy Logic Technologies, in
Computer Aided Maintenance, Methodology and Practices. J.
Lee, Ed.: Chapman Hall, 1996
[15] M.Y. Chow, Methodologies of Using Neural Network
and Fuzzy Logic Technologies for Motor Incipient Fault
Detection. Singapore: World Scientific Publishing Co. Pte.
Ltd., 1997.
[16] N.M. Roehl et al., Fuzzy ART neural network approach
Fig. 15 Surface Viewer for incipient fault detection and isolation in rotating machines,
Proceedings of the 1995 IEEE International Conference on
Neural Networks, vol. 1, pp. 538-542.