Active fault tolerant control based on interval type-2 fuzzy sliding mode controller and non linear adaptive observer for 3-DOF laboratory helicopter

Samir Zeghlache; Tarak Benslimane; Abderrahmen Bouguerra

doi:10.1016/j.isatra.2017.09.006

Active fault tolerant control based on interval type-2 fuzzy sliding mode controller and non linear adaptive observer for 3-DOF laboratory helicopter

ISA Trans. 2017 Nov;71(Pt 2):280-303. doi: 10.1016/j.isatra.2017.09.006. Epub 2017 Sep 14.

Authors

Samir Zeghlache¹, Tarak Benslimane², Abderrahmen Bouguerra³

Affiliations

¹ LASS Laboratory, Department of Electronics, Faculty of Technology, University of Msila, BP 166 Ichbilia, Msila, Algeria. Electronic address: zegsam5@gmail.com.
² Department of Electrical Engineering, Faculty of Technology, University of MSila, BP 166 Ichbilia, Msila, Algeria. Electronic address: rah_bou@yahoo.fr.
³ LASS Laboratory, Department of Electronics, Faculty of Technology, University of Msila, BP 166 Ichbilia, Msila, Algeria. Electronic address: bens082002@yahoo.fr.

PMID: 28919287
DOI: 10.1016/j.isatra.2017.09.006

Abstract

In this paper, a robust controller for a three degree of freedom (3 DOF) helicopter control is proposed in presence of actuator and sensor faults. For this purpose, Interval type-2 fuzzy logic control approach (IT2FLC) and sliding mode control (SMC) technique are used to design a controller, named active fault tolerant interval type-2 Fuzzy Sliding mode controller (AFTIT2FSMC) based on non-linear adaptive observer to estimate and detect the system faults for each subsystem of the 3-DOF helicopter. The proposed control scheme allows avoiding difficult modeling, attenuating the chattering effect of the SMC, reducing the rules number of the fuzzy controller. Exponential stability of the closed loop is guaranteed by using the Lyapunov method. The simulation results show that the AFTIT2FSMC can greatly alleviate the chattering effect, providing good tracking performance, even in presence of actuator and sensor faults.

Keywords: 3-DOF helicopter; Fault tolerant control; Non linear observer; Sliding mode controller; Stability; Type-2 fuzzy logic.