Control difuso adaptativo para un mecanismo no lineal de helicóptero

Abstract

This paper presents the analyze the adaptive Fuzzy Model Reference Learning Control (FMRLC) is a adaptive fuzzy control method used in nonlinear plants, time-varying and difficult to model them mathematically, which provides a methodology to adapt to the error that occurs with the actual plant and the reference model, the performance is obtained when the error tends to be very small, this adaptation is achieved by moving the centers of the member functions of the knowledge base of fuzzy controller, according to an adaptation algorithm. The fuzzy controller is proposed to solve the control problem is a fuzzy proportional derivative controller (PD). The elimination of steady-state error is thanks to an integral gain FMRLC parallel to the controller.