Conference proceeding
Nonlinear Altitude Control of a Quadcopter Drone Using Interval Type-2 Fuzzy Logic
2018 IEEE SYMPOSIUM SERIES ON COMPUTATIONAL INTELLIGENCE (IEEE SSCI), pp.236-241
2018 IEEE Symposium Series on Computational Intelligence (SSCI) (Bangalore, India, 18/11/2018 - 21/11/2018)
2018
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Source: InCites
Abstract
The development of Unmanned Aerial Vehicles (UAVs) has become one of the most fruitful research areas in the field of autonomous flight control. Quadcopters are chosen due to their simple mechanical structure which is able to hover in a stationary manner, vertical take-off and landing. Nevertheless, these types of aircraft are highly nonlinear and under-actuated systems. Intelligent control such as fuzzy logic is a suitable choice for controlling nonlinear systems. However, type-1 fuzzy control cannot handle uncertainties of nonlinear systems. As a solution, interval type-2 fuzzy control has the advantage of being able to deal with uncertainties. This research proposes the use of interval type-2 fuzzy for controlling the altitude of a nonlinear quadcopter UAV using Gaussian membership function and utilizing the Enhance Iterative Algorithm with Stop Condition (EIASC) algorithm for type-reduction. A comparison between the proposed interval type-2 fuzzy controller and proportional-Derivative (PD) controller is illustrated. Simulation results demonstrated that the tracking performance of the proposed controller outperformed the PD controller.
Details
- Title
- Nonlinear Altitude Control of a Quadcopter Drone Using Interval Type-2 Fuzzy Logic
- 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
- Publication Details
- 2018 IEEE SYMPOSIUM SERIES ON COMPUTATIONAL INTELLIGENCE (IEEE SSCI), pp.236-241
- Conference
- 2018 IEEE Symposium Series on Computational Intelligence (SSCI) (Bangalore, India, 18/11/2018 - 21/11/2018)
- Publisher
- IEEE
- Number of pages
- 6
- Identifiers
- 991013092675502368
- Academic Unit
- Faculty of Science and Engineering
- Language
- English
- Resource Type
- Conference proceeding