PID Fuzzy Sliding Mode Control of the Twin Rotor Multi-Input Multi-Output System

• Main Authors: Hung-Wei Wu, 吳弘偉
• Other Authors: 黃英哲
• Format: Others
• Language: en_US
• Published: 2011
• Online Access: http://ndltd.ncl.edu.tw/handle/72348920676813112118

碩士 === 元智大學 === 電機工程學系 === 99 === In this thesis, a PID Fuzzy Sliding mode control is adopted to control the Twin Rotor Multi-Input Multi-Output (TRMS). The TRMS is decoupled and composed of a main rotor system and a tail system. The simulations include three controllers, sliding mode controller, PID controller, PID Fuzzy Sliding mode controller. The first controller demonstrates the sliding mode control performance for TRMS. The sliding mode control can reach the control objective, but it exists chattering problem and tracking errors. Then the boundary layer is adopted to reduce the chattering phenomenon. The second controller indicates the PID control performance. The third controller shows PID Fuzzy Sliding mode control with the same PID parameters. Finally, the PID Fuzzy Sliding mode controller to the main rotor and the tail rotor has neither the chattering phenomenon nor the tracking errors.