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Xu Xiang Yang
Beijing Institute of Technology

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Takagi-Sugeno Fuzzy Model Identification for Small Scale Unmanned Helicopter Arbab Nighat Khizer; Dai Yaping; Syed Amjad Ali; Xu Xiang Yang
Indonesian Journal of Electrical Engineering and Computer Science Vol 12, No 1: January 2014
Publisher : Institute of Advanced Engineering and Science

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Abstract

This paper presents system identification method for small unmanned helicopter based on Takagi Sugeno fuzzy models under hover. Firstly,the nonlinear discrete model of small unmanned helicopter with unknown parametersis determined by Takagi Sugeno system. Secondly, derivative based gradientmethod is used to identify unknown parameters of TS fuzzy model because in gradientadaptation, fuzzy system is not supposed to be linear in the parameters, so allfuzzy sets for input and output could be adjusted. The proposed method showedits effectiveness in terms of data matching obtained by the X-Plane©flight simulator. Obtained simulation results show high accuracy of themodeling method and better justification for real time applicability of theapproach DOI : http://dx.doi.org/10.11591/telkomnika.v12i1.3577
3DoF Model Helicopter with Hybrid Control Arbab Nighat Khizer; Dai Yaping; Syed Amjad Ali; Xu Xiang Yang
Indonesian Journal of Electrical Engineering and Computer Science Vol 12, No 5: May 2014
Publisher : Institute of Advanced Engineering and Science

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Abstract

Dynamics of miniature unmanned helicopter are considered nonlinear and mutually coupled; therefore designing of a stable control becomes a big challenge for researchers. This paper addresses this issue by proposing a hybrid control methodology using both traditional and intelligent control. A 3DoF model helicopter system is used as a controlled platform. This hybrid control used PID as a traditional and fuzzy as an intelligent control so as to take the full advantage of advanced control theory. Proposed hybrid control is evaluated against the fuzzy and PID control through intensive simulation. Results verified that the proposed control has an excellent performance in static as well as dynamic environment as compared to individual PID and fuzzy control. DOI : http://dx.doi.org/10.11591/telkomnika.v12i5.5091
Co-Authors Arbab Nighat Khizer Arbab Nighat Khizer Dai Yaping Dai Yaping Syed Amjad Ali