This manuscript presents the application of interval type-2 fuzzy logic sets for the control of a twin-rotor multiinput multi-output (MIMO) system (TRMS). As such, accurate tracking with robustness to structured/unstructured uncertainties is achieved. Unlike other control methodologies, no prior knowledge of the system dynamics and/or parameters is needed. Simulation results of different TRMS configurations illustrate the performance of the control scheme in transient and steady- state conditions. Furthermore, the proposed interval type-2 fuzzy control strategy is compared against its type-1 counterpart.

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Keywords multi-input multi-output system, Nonlinear model, type-2 fuzzy logic, unmanned aerial systems
Persistent URL dx.doi.org/10.1109/IRIS.2017.8250143
Conference 5th IEEE International Symposium on Robotics and Intelligent Sensors, IRIS 2017
Citation
Kafi, M.R. (Mohamed R.), Chaoui, H, & Miah, S. (Suruz). (2018). Twin-rotor MIMO system and its control using interval type-2 fuzzy logic. In Proceedings - 2017 IEEE 5th International Symposium on Robotics and Intelligent Sensors, IRIS 2017 (pp. 330–335). doi:10.1109/IRIS.2017.8250143