Takagi-Sugeno fuzzy controller structures for twin rotor aerodynamic systems

This paper proposes structures of Takagi-Sugeno fuzzy (TSF) controllers along with approaches to design these structures dedicated to the azimuth and pitch position control of twin rotor aerodynamic systems (TRASs). The azimuth and the pitch positions are separately controlled using Single Input-Single Output (SISO) control system structures. Two Proportional-Integral-Derivative (PID) TSF controllers are suggested for azimuth position control, and they are build around linear PID controller structures. A PI and a PID TSF controller are suggested for pitch position control by fuzzifying the linear PI and PID controller structures. The validation of the new TFS controllers is carried out on nonlinear TRAS laboratory equipment. The performance of the SISO control systems with the new TFS controllers is compared with two linear controllers tuned by a metaheuristic Gravitational Search Algorithm optimizer.