Book chapter
Chapter 2 - Modeling and control of a quadrotor unmanned aerial vehicle using type-2 fuzzy systems
Unmanned Aerial Systems
Academic Press
2021
Metrics
31 Record Views
Abstract
This chapter presents the applications of an interval type-2 (IT2) Takagi–Sugeno (TS) fuzzy system for modeling and controlling the dynamics of a quadcopter unmanned aerial vehicle. In addition to being complex and nonlinear, the dynamics of a quadcopter are underactuated and uncertain, making the modeling and control tasks across its full flight envelope nontrivial. The popularity of fuzzy systems stems from the fact that they are a universal approximator, making them capable of explaining complex relations among variables in the form of fuzzy “if-then” rules. Addressing current research gaps, we performed a nonlinear system identification, leveraging the benefits of the TS fuzzy system to model the attitude dynamics of a quadcopter drone. The data were collected from real-time flight tests in an indoor flight test facility, instrumented with a VICON motion capture system. We designed a robust IT2 fuzzy logic controller (IT2FLC) for trajectory tracking and we improved the performance of the fixed IT2FLC by designing an adaptive control law, which was derived using the sliding mode control theory. The efficacy of our fuzzy controller was investigated in the face of multiple external disturbances, where superior outcomes were obtained compared to traditional methods.
Details
- Title
- Chapter 2 - Modeling and control of a quadrotor unmanned aerial vehicle using type-2 fuzzy systems
- Creators
- Ayad Al-Mahturi - University of New South WalesFendy Santoso - University of New South WalesMatthew A. Garratt - University of New South WalesSreenatha G. Anavatti - University of New South Wales
- Contributors
- Anis Koubaa (Editor) - Prince Sultan UniversityAhmad Taher Azar (Editor) - Prince Sultan University
- Publication Details
- Unmanned Aerial Systems
- Publisher
- Academic Press
- Identifiers
- 991013102513602368
- Copyright
- Copyright © 2021 Elsevier Inc. All rights reserved.
- Academic Unit
- Faculty of Science and Engineering
- Language
- English
- Resource Type
- Book chapter