Real-Time Interval Type-2 Fuzzy Control of an Unmanned Aerial Vehicle with Flexible Cable-Connected Payload
This study presents the design and real-time applications of an Interval Type-2 Fuzzy PID (IT2-FPID) control system on an unmanned aerial vehicle (UAV) with a flexible cable-connected payload in comparison to the PID and Type-1 Fuzzy PID (T1-FPID) counterparts. The IT2-FPID control has significant s...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-05-01
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| Series: | Algorithms |
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| Online Access: | https://www.mdpi.com/1999-4893/16/6/273 |
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| author | Fethi Candan Omer Faruk Dik Tufan Kumbasar Mahdi Mahfouf Lyudmila Mihaylova |
| author_facet | Fethi Candan Omer Faruk Dik Tufan Kumbasar Mahdi Mahfouf Lyudmila Mihaylova |
| author_sort | Fethi Candan |
| collection | DOAJ |
| description | This study presents the design and real-time applications of an Interval Type-2 Fuzzy PID (IT2-FPID) control system on an unmanned aerial vehicle (UAV) with a flexible cable-connected payload in comparison to the PID and Type-1 Fuzzy PID (T1-FPID) counterparts. The IT2-FPID control has significant stability, disturbance rejection, and response time advantages. To prove and show these advantages, the DJI Tello, a commercial UAV, is used with a flexible cable-connected payload to test the robustness of PID, T1-FPID, and IT2-FPID controllers. First, the optimal coefficients of the compared controllers are found using the Big Bang–Big Crunch algorithm via the nonlinear UAV model without the payload. Second, once optimised, the controllers are tested using several scenarios, including disturbing the payload and the coverage path planning area to examine their robustness. Third, the controller performance results are evaluated according to reference achievement and point-based tracking under disturbances. Finally, the superiority of the IT2-FPID controller is shown via simulations and real-time experiments with a better overshoot, a faster settling time, and good properties of disturbance rejection compared with the PID and the T1-FPID controllers. |
| first_indexed | 2024-03-11T02:51:54Z |
| format | Article |
| id | doaj.art-8e28ca4db479412fb2ce72880c38f446 |
| institution | Directory Open Access Journal |
| issn | 1999-4893 |
| language | English |
| last_indexed | 2024-03-11T02:51:54Z |
| publishDate | 2023-05-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Algorithms |
| spelling | doaj.art-8e28ca4db479412fb2ce72880c38f4462023-11-18T08:56:38ZengMDPI AGAlgorithms1999-48932023-05-0116627310.3390/a16060273Real-Time Interval Type-2 Fuzzy Control of an Unmanned Aerial Vehicle with Flexible Cable-Connected PayloadFethi Candan0Omer Faruk Dik1Tufan Kumbasar2Mahdi Mahfouf3Lyudmila Mihaylova4Department of Automatic Control and Systems Engineering, University of Sheffield, Sheffield S1 3JD, UKControl and Automation Department, Istanbul Technical University, 34467 Istanbul, TurkeyControl and Automation Department, Istanbul Technical University, 34467 Istanbul, TurkeyDepartment of Automatic Control and Systems Engineering, University of Sheffield, Sheffield S1 3JD, UKDepartment of Automatic Control and Systems Engineering, University of Sheffield, Sheffield S1 3JD, UKThis study presents the design and real-time applications of an Interval Type-2 Fuzzy PID (IT2-FPID) control system on an unmanned aerial vehicle (UAV) with a flexible cable-connected payload in comparison to the PID and Type-1 Fuzzy PID (T1-FPID) counterparts. The IT2-FPID control has significant stability, disturbance rejection, and response time advantages. To prove and show these advantages, the DJI Tello, a commercial UAV, is used with a flexible cable-connected payload to test the robustness of PID, T1-FPID, and IT2-FPID controllers. First, the optimal coefficients of the compared controllers are found using the Big Bang–Big Crunch algorithm via the nonlinear UAV model without the payload. Second, once optimised, the controllers are tested using several scenarios, including disturbing the payload and the coverage path planning area to examine their robustness. Third, the controller performance results are evaluated according to reference achievement and point-based tracking under disturbances. Finally, the superiority of the IT2-FPID controller is shown via simulations and real-time experiments with a better overshoot, a faster settling time, and good properties of disturbance rejection compared with the PID and the T1-FPID controllers.https://www.mdpi.com/1999-4893/16/6/273fuzzy PID controllerunmanned air vehiclesnano quadcopterinterval type-2 fuzzy controllerautonomy |
| spellingShingle | Fethi Candan Omer Faruk Dik Tufan Kumbasar Mahdi Mahfouf Lyudmila Mihaylova Real-Time Interval Type-2 Fuzzy Control of an Unmanned Aerial Vehicle with Flexible Cable-Connected Payload Algorithms fuzzy PID controller unmanned air vehicles nano quadcopter interval type-2 fuzzy controller autonomy |
| title | Real-Time Interval Type-2 Fuzzy Control of an Unmanned Aerial Vehicle with Flexible Cable-Connected Payload |
| title_full | Real-Time Interval Type-2 Fuzzy Control of an Unmanned Aerial Vehicle with Flexible Cable-Connected Payload |
| title_fullStr | Real-Time Interval Type-2 Fuzzy Control of an Unmanned Aerial Vehicle with Flexible Cable-Connected Payload |
| title_full_unstemmed | Real-Time Interval Type-2 Fuzzy Control of an Unmanned Aerial Vehicle with Flexible Cable-Connected Payload |
| title_short | Real-Time Interval Type-2 Fuzzy Control of an Unmanned Aerial Vehicle with Flexible Cable-Connected Payload |
| title_sort | real time interval type 2 fuzzy control of an unmanned aerial vehicle with flexible cable connected payload |
| topic | fuzzy PID controller unmanned air vehicles nano quadcopter interval type-2 fuzzy controller autonomy |
| url | https://www.mdpi.com/1999-4893/16/6/273 |
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