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/ http://irep.iium.edu.my/71681/ http://irep.iium.edu.my/71681/ 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

id	iium-71681
recordtype	eprints
spelling	iium-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
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
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/ http://irep.iium.edu.my/71681/ http://irep.iium.edu.my/71681/ 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
first_indexed	2023-09-18T21:41:38Z
last_indexed	2023-09-18T21:41:38Z
_version_	1777413179418083328

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

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