Fuzzy Gain-Scheduling Based Fault Tolerant Visual Servo Control of Quadrotors
When military and civil missions such as transportation increase, fault tolerant control of unmanned aerial vehicles will be an obligation. Although onboard sensors provide information about the status of a quadrotor, the camera is not included in the list. In this study, visual servo control of qua...
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-01-01
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| Series: | Drones |
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| Online Access: | https://www.mdpi.com/2504-446X/7/2/100 |
| _version_ | 1797621449131819008 |
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| author | Tolga Yuksel |
| author_facet | Tolga Yuksel |
| author_sort | Tolga Yuksel |
| collection | DOAJ |
| description | When military and civil missions such as transportation increase, fault tolerant control of unmanned aerial vehicles will be an obligation. Although onboard sensors provide information about the status of a quadrotor, the camera is not included in the list. In this study, visual servo control of quadrotors as a popular method for motion control is addressed. we address a visual servo control system for quadrotors as a popular method for motion control. The feature motions in the image plane are analyzed to reveal the relation between the actuator faults and these motions. Four AI fault approximators, a neural network, an extreme learning machine, a linear support vector machine, and a long short-term memory are used to approximate actuator faults of a quadrotor while using feature inputs. The results are convincing and the approximation results are used by a fuzzy logic unit to provide gain-scheduling based fault tolerant control. The proposed system shows sufficient results as a visual servo system for fixed and moving feature targets while providing fault tolerance. |
| first_indexed | 2024-03-11T08:56:05Z |
| format | Article |
| id | doaj.art-9a164e599f9d452c872c2692c2404602 |
| institution | Directory Open Access Journal |
| issn | 2504-446X |
| language | English |
| last_indexed | 2024-03-11T08:56:05Z |
| publishDate | 2023-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Drones |
| spelling | doaj.art-9a164e599f9d452c872c2692c24046022023-11-16T20:06:36ZengMDPI AGDrones2504-446X2023-01-017210010.3390/drones7020100Fuzzy Gain-Scheduling Based Fault Tolerant Visual Servo Control of QuadrotorsTolga Yuksel0Department of Electrical and Electronics Engineering, Engineering Faculty, Bilecik Seyh Edebali University, Bilecik 11100, TurkeyWhen military and civil missions such as transportation increase, fault tolerant control of unmanned aerial vehicles will be an obligation. Although onboard sensors provide information about the status of a quadrotor, the camera is not included in the list. In this study, visual servo control of quadrotors as a popular method for motion control is addressed. we address a visual servo control system for quadrotors as a popular method for motion control. The feature motions in the image plane are analyzed to reveal the relation between the actuator faults and these motions. Four AI fault approximators, a neural network, an extreme learning machine, a linear support vector machine, and a long short-term memory are used to approximate actuator faults of a quadrotor while using feature inputs. The results are convincing and the approximation results are used by a fuzzy logic unit to provide gain-scheduling based fault tolerant control. The proposed system shows sufficient results as a visual servo system for fixed and moving feature targets while providing fault tolerance.https://www.mdpi.com/2504-446X/7/2/100visual servoingfault tolerant controlneural networkfuzzy logic |
| spellingShingle | Tolga Yuksel Fuzzy Gain-Scheduling Based Fault Tolerant Visual Servo Control of Quadrotors Drones visual servoing fault tolerant control neural network fuzzy logic |
| title | Fuzzy Gain-Scheduling Based Fault Tolerant Visual Servo Control of Quadrotors |
| title_full | Fuzzy Gain-Scheduling Based Fault Tolerant Visual Servo Control of Quadrotors |
| title_fullStr | Fuzzy Gain-Scheduling Based Fault Tolerant Visual Servo Control of Quadrotors |
| title_full_unstemmed | Fuzzy Gain-Scheduling Based Fault Tolerant Visual Servo Control of Quadrotors |
| title_short | Fuzzy Gain-Scheduling Based Fault Tolerant Visual Servo Control of Quadrotors |
| title_sort | fuzzy gain scheduling based fault tolerant visual servo control of quadrotors |
| topic | visual servoing fault tolerant control neural network fuzzy logic |
| url | https://www.mdpi.com/2504-446X/7/2/100 |
| work_keys_str_mv | AT tolgayuksel fuzzygainschedulingbasedfaulttolerantvisualservocontrolofquadrotors |