Fuzzy Sliding Mode Controller For Chattering Reduction On Position Control Of 2-Dof Helicopter

Abstract

A Two-Degree-Of-Freedom Helicopter Typically Refers To A Helicopter With Two Rotationaldegrees Of Freedom, Usually Pitch And Yaw. 2-DOF Helicopter Model Is A Highly Non-Lineartwin Rotor Multi-Input Multi-Output System (TRMS). It Consists Of Two Rotors, Vertical Andhorizontal, Whose Positions Need To Be Controlled With The Help Of Suitable Controller Whencreating Control Rules, Nonlinearities, And External Disturbances That Affect Helicoptercontrol Should Be Taken Into Account. In The Case Of Two-Degree-Of-Freedom Helicoptermodels, Chattering Can Arise Due To The Simplified Control System And Limitations In Controlauthority. The Control Inputs May Switch Rapidly Between Different Values, Resulting Inundesired Oscillations. Mitigating Chattering In Control Systems Is An Active Area Of Research.This Thesis Presents A Fuzzy Sliding Mode Control-Based Control Approach For Yaw And Pitchposition Control Of A 2-DOF Helicopter By Removing The Chattering. The Method Proposedinvolves A Dynamic Modeling For The 2-DOF Helicopter To Determine The Position Of The 2-DOF Helicopter Tracks The Given Trajectory By Removing The Disadvantage Of Sliding Modecontroller That Is Chattering. Sinusoidal Trajectory Was Given For The System As A Referenceinput So That It Will Track It By The Provision Of Proper Controller Design Parameters. Thebasic Parameters Of The Controllers Are Tuned With Help Of A Global Metaheuristicoptimization Algorithm Called PSO Method. As Simulation Result Shows In Sinusoidaltrajectory The Steady State Error Is 0.402037. In General, The Proposed Algorithm Control Willfunction Well, According To The Simulation Findings, Simulation Results Will Be Presented Toshow How The Suggested Controller May Significantly Reduce The Chattering Effect Andexternal Disruption While Maintaining Accurate Trajectory Tracking In The Two-Dofhelicopter System.