Real-Time Fuzzy Identification of Twin Rotor MIMO System

This paper presents identification of laboratory Twin Rotor MIMO System (TRMS) using fuzzy logic. The TRMS is a challenging system to control since it is a non-minimum phase system and is a laboratory bench mark system for air vehicles like helicopters. This system has two degrees of freedom with strong cross-coupling between the vertical and horizontal axes. For optimal tuning of the fuzzy system parameters, the gradient descent algorithm is employed in this paper. In order to reduce the computation complexity and at the same time to increase robustness of the fuzzy model, the online learning method is used here. Experimental results show effectiveness of the proposed approach

کلیدواژه ها:

Twin rotor MIMO system ، Fuzzy system ، Gradient descent algorithm ، Online learning