Comparative analysis of PID, fuzzy PID, and ANFIS controllers for 2-DOF helicopter trajectory tracking: simulation and hardware implementation

• Autorzy: Fellag Ratiba , Belhocine Mahmoud

Identyfikatory

DOI

10.24425/ame.2024.151331

• Języki publikacji: EN

Abstrakty

EN

This study investigates advanced control techniques to evaluate the trajectory tracking control of a two-degrees-of-freedom (2-DOF) helicopter system based on simulation and hardware implementation experiments. For this, a Quanser Aero 2 platform and its QUARC software, integrated within MATLAB/Simulink, are used to design and implement multiple controllers, including Proportional Integral Derivative (PID), Fuzzy PID, and Adaptive Neuro Fuzzy Inference System (ANFIS) controllers. A two-phase approach was followed to assess and compare these controllers’ ability to handle parametric uncertainties, unmodeled dynamics, and matched disturbances. Firstly, simulation experiments were conducted using an uncertain system model, considering the controller’s responses in scenarios with and without cross-coupling and matched disturbances. Subsequently, hardware experiments were conducted under the same conditions to validate the simulation results, providing real-time performance comparisons. Finally, a rigorous quantitative assessment based on multiple performance metrics including Root Mean Square Error (RMSE), peak value, Integral Square Error (ISE), Integral of Absolute Error (IAE), and Integral of Time-multiplied Absolute Error (ITAE) demonstrated overperformance achieved using ANFIS for pitch control and Fuzzy PID for yaw control.

Słowa kluczowe

EN

ANFIS; fuzzy logic; helicopter; Quanser Aero 2; PID; matched disturbances

PL

ANFIS; logika rozmyta; śmigłowiec; Quanser Aero 2; PID; dopasowane zakłócenia

• Wydawca: Komitet Budowy Maszyn PAN
• Czasopismo: Archive of Mechanical Engineering
• Rocznik: 2024
• Tom: LXXI, nr 3
• Strony: 323--349
• Opis fizyczny: Bibliogr. 34 poz., rys., tab., wykr., fot.

Twórcy

autor

Fellag Ratiba

• Robotics and Industrial Automation Laboratory, Centre de Développement des Technologies Avancées (CDTA), Algiers, Algeria

• https://orcid.org/0000-0002-2905-3988

autor

Belhocine Mahmoud

• Robotics and Industrial Automation Laboratory, Centre de Développement des Technologies Avancées (CDTA), Algiers, Algeria

• https://orcid.org/0000-0003-3495-7444

Bibliografia

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Uwagi

Opracowanie rekordu ze środków MNiSW, umowa nr POPUL/SP/0154/2024/02 w ramach programu "Społeczna odpowiedzialność nauki II" - moduł: Popularyzacja nauki (2025)