Fuzzy gain scheduling control apply to an RC Hovercraft

Huu Khoa Tran, Pham Duc Lam, Tran Thanh Trang, Xuan Tien Nguyen, Hoang-Nam Nguyen


The Fuzzy Gain Scheduling (FGS) methodology for tuning the Proportional – Integral – Derivative (PID) traditional controller parameters by scheduling controlled gains in different phases, is a simple and effective application both in industries and real-time complex models while assuring the high achievements over pass decades, is proposed in this article. The Fuzzy logic rules of the triangular membership functions are exploited on-line to verify the Gain Scheduling of the Proportional – Integral – Derivative controller gains in different stages because it can minimize the tracking control error and utilize the Integral of Time Absolute Error (ITAE) minima criterion of the controller design process. For that reason, the controller design could tune the system model in the whole operation time to display the efficiency in tracking error. It is then implemented in a novel Remote Controlled (RC) Hovercraft motion models to demonstrate better control performance in comparison with the PID conventional controller.


Fuzzy Gain Scheduling, PID control, RC Hovercraft, ITAE

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DOI: http://doi.org/10.11591/ijece.v10i3.pp2434-2440
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ISSN 2088-8708, e-ISSN 2722-2578