DESIGN AND REALIZATION OF A HYBRID INTELLIGENT CONTROLLER FOR A TWIN ROTOR MIMO SYSTEM

Abstract

An intelligent control scheme using a fuzzy switching mechanism, grey prediction and genetic algorithm (GA) is applied to a coupled nonlinear system, called a twin rotor multi-input multi-output system (TRMS). In real-time control, a 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. The objective is to stabilize the TRMS in significant cross-coupled conditions, and to experiment with setpoint control and trajectory tracking. The proposed scheme improves the performance of the PID controller. Control gains and parameters of the fuzzy switching mechanism are obtained by GA. Simulation results show that the proposed approach results in better performance than is achieved by conventional PID control, GA-PID control, CMAC, or fuzzy control.