Real Time Implementation of Type-2 Fuzzy Backstepping Sliding Mode Controller for Twin Rotor MIMO System (TRMS) Benyettou Loutfi 1* , Zeghlache Samir 2 , Djerioui Ali 1 , Ghellab Mohammed Zinelaabidine 2 1 Laboratory of Electrical Engineering, University of M’sila, Algeria 2 Laboratoire d’Analyse des Signaux et Systèmes, University of M’sila, Algeria Corresponding Author Email: benyettou_letfi@yahoo.fr https://doi.org/10.18280/ts.360101 ABSTRACT Received: 13 November 2018 Accepted: 21 January 2019 The work has done in this paper concern a strategy of control based on real time implementation of backstepping sliding mode using the interval type-2 fuzzy logic and their application to the Twin Rotor MIMO System (TRMS), the backstepping sliding mode controller are the problem of the chattering phenomenon, this can damage the actuators and disrupt the operation and performance of the system, so to reduce this problem we combine the fuzzy logic type 2. The proposed techniques were applied to the TRMS, where the real time implementation of type-2 fuzzy backstepping sliding mode controller (T2FBSMC) were proposed for control system in the presence of external distrubances. The interval type-2 fuzzy logic is used to minimize the major problem of sliding mode and employed in the stability analysis. The obtained simulation and experiment results confirm the effectiveness of the proposed method. Keywords: TRMS model, interval type-2 fuzzy logic, sliding mode, backstepping, T2FBSMC 1. INTRODUCTION The autopilot of planes and helicopters was born with modern aviation and has evolved over time to meet increasingly restrictive needs. It can be used when the task to be performed is too repetitive or too difficult for the pilot. The control of the automatic control of the evolution of helicopters controlled by radio opens the way to applications in the fields of security (surveillance of the airspace, the urban and interurban traffic), the management of the natural risks (monitoring of volcano activity), the environment (measurement of air pollution, forest monitoring), for intervention in hostile environments (radioactive environments, demining of land without human intervention), management major infrastructures (dams, high-voltage lines, pipelines), agriculture (detection and treatment of infested crops) and aerial photography in film production [1, 2]. The TRMS (Twin Rotor MIMO System) is an aerodynamic physical system similar to a helicopter, designed for the development and implementation of new control laws. [3- 5] Several works have been done to control of the TRMS, the researchers have been developed the control strategies to solve the problems of this type of system. The sliding mode control, is a robust control in the presence of parametric variations, characterized by its robustness against nonlinearity and its efficiency in the rejection of disturbances, [6, 7], in [8] sliding mode control is designed for a linearized model of the TRMS system. The authors in [9], proposed an adaptive second-order sliding mode controller in objectives to stabilize and control the TRMS system in significant cross couplings, in [10], a model for the TRMS is used based an optimal linear quadratic regulator and a sliding mode controller. Real-time control of the vertical and horizontal positions of TRMS using a decentralized sliding mode controller is presented in [11]. The major disadvantage of sliding mode is the chattering phenomenon, which can damage the actuators by too frequent stress and impair the operation and performance of the system, in order to reduce these oscillations several solutions have been made, for example: use artificial intelligence tools, including fuzzy logic type 1 and type 2, in [2] authors presented the real time implementation of non linear observer- based on type-1 fuzzy sliding mode controller for TRMS system, the proposed control in this paper can be attenuating the chattering phenomena of the sliding mode control. In [12, 13] the type 2 fuzzy logic and adaptive type 2 fuzzy logic controllers are proposed to stabilize the TRMS Helicopter system, using two independent type-2 fuzzy controllers for the yaw and pitch angles of the TRMS, the performance of each control scheme is examined under a number of simulations. In this work, the real time implementation of T2FBSMC approaches for a TRMS system is proposed. An interval type- 2 fuzzy logic is used to solve the chattering problem due to the correction term. Compared to previous studies on sliding mode control [9, 11], the proposed control approach can reduce the chattering phenomenon and obtained a good dynamic response. Compared to boundary layer sliding mode control [2, 10] and higher order sliding mode control, the control approach can also reduce these oscillations. The contributions of this paper could be briefly summarized as follows. (1). An effective and robust controller is developed for TRMS system with external disturbances. (2). A fuzzy logic type 2 is used to reduce the chattering phenomenon. (3). The type 2 fuzzy logic inference mechanism is employed in the stability analysis. The rest of the paper is organized as follows. Section 2 focuses on the nonlinear dynamic model of the 2-DOF helicopter (TRMS). Design of the T2FBSMC is highlighted in section 3 and 4. Simulation results and related discussions are given in section 5. The experimental results to validate the Traitement du Signal Vol. 36, No. 1, February, 2019, pp. 1-11 Journal homepage: http://iieta.org/Journals/ts 1