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Hybrid intelligent control for set-point tracking of a flexible manoeuvring system using sigmoid activation function

Omar, M., Aldebrez, F., Zaidan, M. A. and Tokhi, M. (2012) Hybrid intelligent control for set-point tracking of a flexible manoeuvring system using sigmoid activation function. Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering, Publis. ISSN 0954-4100


This article addresses the input tracking control problem of a highly nonlinear flexible system namely a twin-rotor multi-input multi-output system in the vertical plane motion. The twin-rotor multi-input multi-output system can be considered as an aerodynamic experimental model, representing the control challenges of complex air vehicles. A hybrid control scheme comprising a fuzzy proportional–derivative-like control and a conventional integrator is developed by adding the outputs of both control actions. To satisfy the tracking characteristics of the manoeuvring system, an efficient combination of the control actions is developed using a smooth nonlinear activation function which continuously regulates contribution of the integral term in the controller output. The effect of the activation function greatly reduces overshoots when the system is exposed to abrupt changes during its manoeuvre. The control system performance is tested in simulations and experimentally in real-time situations. Robustness and stability of the controller are also investigated. The obtained results prove the efficiency of the proposed scheme in terms of time-domain performance specifications of the system.

Item Type: Article
Copyright, Publisher and Additional Information: © 2012 Sage. Reproduced with permission from the copyright holder.
Keywords: Flexible systems, fuzzy logic, proportional–integral–derivative, self-tuning fuzzy proportional–derivative control, twin-rotor system
Institution: The University of Sheffield
Academic Units: The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Automatic Control and Systems Engineering (Sheffield)
Depositing User: Mr Martha Arbayani Bin Zaidan
Date Deposited: 10 May 2012 14:56
Last Modified: 15 Sep 2014 01:25
Published Version: http://dx.doi.org/10.1177/0954410012445670
Status: Published
Publisher: Sage
Refereed: Yes
Identification Number: 10.1177/0954410012445670
URI: http://eprints.whiterose.ac.uk/id/eprint/43900

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