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Title: A Hybrid Intelligent Controller for a Twin Rotor MIMO System and Its Hardware Implementation
Authors: Jih-Gau Juang;Wen-Kai Liu;Ren-Wei Lin
Contributors: NTOU:Department of Communications Navigation and Control Engineering
Keywords: Hybrid intelligent control;MIMO system;PID control;Fuzzy system;GA
Date: 2011-10
Issue Date: 2011-10-21T02:35:42Z
Publisher: ISA Transactions
Abstract: abstract:This paper presents a fuzzy PID control scheme with a real-valued genetic algorithm (RGA) to a setpoint control problem. The objective of this paper is to control a twin rotor MIMO system (TRMS) to move quickly and accurately to the desired attitudes, both the pitch angle and the azimuth angle in a cross-coupled condition. A fuzzy compensator is applied to the PID controller. The proposed control structure includes four PID controllers with independent inputs in 2-DOF. In order to reduce total error and control energy, all parameters of the controller are obtained by a RGA with the system performance index as a fitness function. The system performance index utilized the integral of time multiplied by the square error criterion (ITSE) to build a suitable fitness function in the RGA. A new method for RGA to solve more than 10 parameters in the control scheme is investigated. For real-time control, Xilinx Spartan II SP200 FPGA (Field Programmable Gate Array) is employed to construct a hardware-in-the-loop system through writing VHDL on this FPGA.
Relation: 50(4), pp.609–619
Appears in Collections:[Department of Communications Navigation and Control Engineering] Periodical Articles

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