Fuzzy-Based Hybrid Control Algorithm for the Stabilization of a Tri-Rotor UAV
In this paper, a new and novel mathematical fuzzy hybrid scheme is proposed for the stabilization of a tri-rotor unmanned aerial vehicle (UAV). The fuzzy hybrid scheme consists of a fuzzy logic controller, regulation pole-placement tracking (RST) controller with model reference adaptive control (MRA...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2016-05-01
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| Series: | Sensors |
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| Online Access: | http://www.mdpi.com/1424-8220/16/5/652 |
| _version_ | 1811187955786579968 |
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| author | Zain Anwar Ali Daobo Wang Muhammad Aamir |
| author_facet | Zain Anwar Ali Daobo Wang Muhammad Aamir |
| author_sort | Zain Anwar Ali |
| collection | DOAJ |
| description | In this paper, a new and novel mathematical fuzzy hybrid scheme is proposed for the stabilization of a tri-rotor unmanned aerial vehicle (UAV). The fuzzy hybrid scheme consists of a fuzzy logic controller, regulation pole-placement tracking (RST) controller with model reference adaptive control (MRAC), in which adaptive gains of the RST controller are being fine-tuned by a fuzzy logic controller. Brushless direct current (BLDC) motors are installed in the triangular frame of the tri-rotor UAV, which helps maintain control on its motion and different altitude and attitude changes, similar to rotorcrafts. MRAC-based MIT rule is proposed for system stability. Moreover, the proposed hybrid controller with nonlinear flight dynamics is shown in the presence of translational and rotational velocity components. The performance of the proposed algorithm is demonstrated via MATLAB simulations, in which the proposed fuzzy hybrid controller is compared with the existing adaptive RST controller. It shows that our proposed algorithm has better transient performance with zero steady-state error, and fast convergence towards stability. |
| first_indexed | 2024-04-11T14:12:35Z |
| format | Article |
| id | doaj.art-57d22b0ef5b24aeba4c109b4f31a9e44 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-11T14:12:35Z |
| publishDate | 2016-05-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-57d22b0ef5b24aeba4c109b4f31a9e442022-12-22T04:19:41ZengMDPI AGSensors1424-82202016-05-0116565210.3390/s16050652s16050652Fuzzy-Based Hybrid Control Algorithm for the Stabilization of a Tri-Rotor UAVZain Anwar Ali0Daobo Wang1Muhammad Aamir2College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, ChinaCollege of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, ChinaElectronic Engineering Department, Sir Syed University of Engineering and Technology, Karachi 75300, PakistanIn this paper, a new and novel mathematical fuzzy hybrid scheme is proposed for the stabilization of a tri-rotor unmanned aerial vehicle (UAV). The fuzzy hybrid scheme consists of a fuzzy logic controller, regulation pole-placement tracking (RST) controller with model reference adaptive control (MRAC), in which adaptive gains of the RST controller are being fine-tuned by a fuzzy logic controller. Brushless direct current (BLDC) motors are installed in the triangular frame of the tri-rotor UAV, which helps maintain control on its motion and different altitude and attitude changes, similar to rotorcrafts. MRAC-based MIT rule is proposed for system stability. Moreover, the proposed hybrid controller with nonlinear flight dynamics is shown in the presence of translational and rotational velocity components. The performance of the proposed algorithm is demonstrated via MATLAB simulations, in which the proposed fuzzy hybrid controller is compared with the existing adaptive RST controller. It shows that our proposed algorithm has better transient performance with zero steady-state error, and fast convergence towards stability.http://www.mdpi.com/1424-8220/16/5/652Unmanned Aerial VehicleTri-Rotor UAVRST controllerfuzzy hybrid controller |
| spellingShingle | Zain Anwar Ali Daobo Wang Muhammad Aamir Fuzzy-Based Hybrid Control Algorithm for the Stabilization of a Tri-Rotor UAV Sensors Unmanned Aerial Vehicle Tri-Rotor UAV RST controller fuzzy hybrid controller |
| title | Fuzzy-Based Hybrid Control Algorithm for the Stabilization of a Tri-Rotor UAV |
| title_full | Fuzzy-Based Hybrid Control Algorithm for the Stabilization of a Tri-Rotor UAV |
| title_fullStr | Fuzzy-Based Hybrid Control Algorithm for the Stabilization of a Tri-Rotor UAV |
| title_full_unstemmed | Fuzzy-Based Hybrid Control Algorithm for the Stabilization of a Tri-Rotor UAV |
| title_short | Fuzzy-Based Hybrid Control Algorithm for the Stabilization of a Tri-Rotor UAV |
| title_sort | fuzzy based hybrid control algorithm for the stabilization of a tri rotor uav |
| topic | Unmanned Aerial Vehicle Tri-Rotor UAV RST controller fuzzy hybrid controller |
| url | http://www.mdpi.com/1424-8220/16/5/652 |
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