Fault tolerant control based on interval type-2 fuzzy sliding mode controller for coaxial trirotor aircraft

Samir Zeghlache; Kamel Kara; Djamel Saigaa

doi:10.1016/j.isatra.2015.09.006

Fault tolerant control based on interval type-2 fuzzy sliding mode controller for coaxial trirotor aircraft

ISA Trans. 2015 Nov:59:215-31. doi: 10.1016/j.isatra.2015.09.006. Epub 2015 Oct 1.

Authors

Samir Zeghlache¹, Kamel Kara², Djamel Saigaa³

Affiliations

¹ LASS Laboratory, Department of Electronics, Faculty of Technology, University of Msila, BP 166 Ichbilia, Msila, Algeria. Electronic address: zegsam5@gmail.com.
² SET Laboratory, Department of Electronics, Faculty of Technology, University of Blida, BP 270 Route de Soumaa, Blida, Algeria. Electronic address: k.kara68@gmail.com.
³ LASS Laboratory, Department of Electronics, Faculty of Technology, University of Msila, BP 166 Ichbilia, Msila, Algeria. Electronic address: saigaa_dj@yahoo.fr.

PMID: 26428878
DOI: 10.1016/j.isatra.2015.09.006

Abstract

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.

Keywords: Coaxial trirotor; Fault tolerant control; Sliding mode controller; Type-2 fuzzy logic.