Abstract
This paper introduces a hybrid control scheme comprising a proportional and derivative (PD)-like fuzzy controller cascaded with a proportional, integral and derivative (PID) compensator. The hybrid control scheme is developed and implemented for tracking control of the vertical movement of a twin rotor multi-input multi-output system in the hovering mode. The proposed control scheme is designed in a way that the output of the PD-type fuzzy controller is fed as a proportional gain of the PID compensator. Genetic algorithm (GA) is used to tune simultaneously the other two parameters of the PID compensator.
The performance of the proposed hybrid control strategy is compared with a PD-type fuzzy controller and conventional PID compensator in terms of setpoint tracking. It is found that the proposed control strategy copes well over the complexities of the plant and has done better than the other two controllers. The GA optimization technique is also found to be effective and efficient in tuning the PID parameters.
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© 2006 Springer-Verlag Berlin Heidelberg
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Aldebrez, F.M., Alam, M.S., Tokhi, M.O. (2006). Hybrid Control Scheme for Tracking Performance of a Flexible system. In: Tokhi, M.O., Virk, G.S., Hossain, M.A. (eds) Climbing and Walking Robots. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-26415-9_65
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DOI: https://doi.org/10.1007/3-540-26415-9_65
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-26413-2
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