Gain-Adaptive PID Control for a 2 DOF Helicopter (TRMS System-33-949S)

Abstract

In this paper, control of 2 DOF Helicopter (TRMS System) Based on Gain-Adaptive PID using two methods the approach from the theory of Lyapunov and fuzzy-PID. In particular, the PID controller with fixed parameters may fail to provide acceptable control performance. To improve the PID control effect, new designs of the Lyapunov gain Scheduled PID controller and fuzzy-PID were presented in this paper. The proposed techniques were applied to the TRMS, The parameters of PID controller were adjusted by an adaptation algorithm gradient type, used to tune in real-time the controller gain, the proposed adaptive PID controllers were compared with the conventional PID. The obtained results confirm the effectiveness of the proposed method.