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<p>This paper presents the design and implementation of an interval type-2 fuzzy logic fractional order PID (IT2-FLFOPID) controller, optimized using the harmony search algorithm (HSA), for controlling the pitch and yaw dynamics of a twin-rotor MIMO system (TRMS). The harmony search algorithm (HSA) is employed to optimally tune the controller parameters by minimizing predefined cost functions within a constrained search space, ensuring enhanced control performance. To show the efficacy of the proposed controller, its performance has been compared with the widely used genetic algorithm (GA), the conventional FOPID controller using PSO and the FOI-PD controller. Obtained simulation results envisage that the proposed controller algorithm delivers adequate control action to achieve faster transient response and convergence speed and eliminates overshoot effectively when compared to other recent controllers.</p>

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Optimal interval type-2 fuzzy fractional order PID controller for twin-rotor helicopter using harmony search algorithm

  • 期刊论文

  • 发表日期：

    2026年3月27日

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  • Paul Nishanth F.,
  • Saroj Kumar Dash,
  • Soumya Ranjan Mahapatro

摘要

This paper presents the design and implementation of an interval type-2 fuzzy logic fractional order PID (IT2-FLFOPID) controller, optimized using the harmony search algorithm (HSA), for controlling the pitch and yaw dynamics of a twin-rotor MIMO system (TRMS). The harmony search algorithm (HSA) is employed to optimally tune the controller parameters by minimizing predefined cost functions within a constrained search space, ensuring enhanced control performance. To show the efficacy of the proposed controller, its performance has been compared with the widely used genetic algorithm (GA), the conventional FOPID controller using PSO and the FOI-PD controller. Obtained simulation results envisage that the proposed controller algorithm delivers adequate control action to achieve faster transient response and convergence speed and eliminates overshoot effectively when compared to other recent controllers.