Zeghlache Samir, Kara Kamel, Saigaa Djamel
LASS Laboratory, Department of Electronics, Faculty of Technology, University of Msila, BP 166 Ichbilia, Msila, Algeria.
SET Laboratory, Department of Electronics, Faculty of Technology, University of Blida, BP 270 Route de Soumaa, Blida, Algeria.
ISA Trans. 2015 Nov;59:215-31. doi: 10.1016/j.isatra.2015.09.006. Epub 2015 Oct 1.
In this paper, a robust controller for a Six Degrees of Freedom (6 DOF) coaxial trirotor helicopter control is proposed in presence of defects in the system. A control strategy based on the coupling of the interval type-2 fuzzy logic control and sliding mode control technique are used to design a controller. The main purpose of this work is to eliminate the chattering phenomenon and guaranteeing the stability and the robustness of the system. In order to achieve this goal, interval type-2 fuzzy logic control has been used to generate the discontinuous control signal. The simulation results have shown that the proposed control strategy can greatly alleviate the chattering effect, and perform good reference tracking in presence of defects in the system.
本文针对存在系统缺陷的六自由度（6 DOF）共轴三旋翼直升机控制提出了一种鲁棒控制器。采用基于区间二型模糊逻辑控制与滑模控制技术耦合的控制策略来设计控制器。这项工作的主要目的是消除抖振现象并保证系统的稳定性和鲁棒性。为了实现这一目标，已使用区间二型模糊逻辑控制来生成不连续控制信号。仿真结果表明，所提出的控制策略能够极大地减轻抖振效应，并在系统存在缺陷的情况下实现良好的参考跟踪。
