Optimized fuzzy fractional-order linear quadratic tracking control for a nonlinear system
In this paper, a novel fuzzy fractional-order Linear Quadratic Tracking (LQT) controller optimized by a Multi-Objective gray Wolf Algorithm (MOGWA) is designed for a 6 Degree-Of-Freedom (DOF) quadcopter flying system. In order to reach this end, the state-space equations would be divided into two pa...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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Elsevier
2023-12-01
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| Series: | Results in Control and Optimization |
| Subjects: | |
| Online Access: | http://www.sciencedirect.com/science/article/pii/S2666720723001200 |
| _version_ | 1797615964312829952 |
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| author | M.J. Mahmoodabadi N. Rezaee Babak |
| author_facet | M.J. Mahmoodabadi N. Rezaee Babak |
| author_sort | M.J. Mahmoodabadi |
| collection | DOAJ |
| description | In this paper, a novel fuzzy fractional-order Linear Quadratic Tracking (LQT) controller optimized by a Multi-Objective gray Wolf Algorithm (MOGWA) is designed for a 6 Degree-Of-Freedom (DOF) quadcopter flying system. In order to reach this end, the state-space equations would be divided into two parts, one for attitude and altitude control and another for position control. The LQT method is implemented to determine the constant parameters of the designed controller by minimizing a quadratic form related to errors and control efforts. Then, to substantially improve the performance of the linear quadratic tracking scheme, the fractional-order derivatives of the system errors are considered as the control inputs, while the MOGWA is used for optimal determination of the related orders. A fuzzy system that employs triangular and trapezoidal membership functions as well as the center average defuzzifier and singleton fuzzifier, is designed to timely regulate the gains of the controller. The introduced strategy would be applied on the nonlinear quadcopter flying system, and the related diagrams would be revealed to illustrate the efficiency and ability of the introduced fuzzy optimal fractional-order linear quadratic tracking controller. |
| first_indexed | 2024-03-11T07:33:26Z |
| format | Article |
| id | doaj.art-f83b400c10994969a018f6af01e9963c |
| institution | Directory Open Access Journal |
| issn | 2666-7207 |
| language | English |
| last_indexed | 2024-03-11T07:33:26Z |
| publishDate | 2023-12-01 |
| publisher | Elsevier |
| record_format | Article |
| series | Results in Control and Optimization |
| spelling | doaj.art-f83b400c10994969a018f6af01e9963c2023-11-17T05:28:25ZengElsevierResults in Control and Optimization2666-72072023-12-0113100318Optimized fuzzy fractional-order linear quadratic tracking control for a nonlinear systemM.J. Mahmoodabadi0N. Rezaee Babak1Corresponding author.; Department of Mechanical Engineering, Sirjan University of Technology, Sirjan, IranDepartment of Mechanical Engineering, Sirjan University of Technology, Sirjan, IranIn this paper, a novel fuzzy fractional-order Linear Quadratic Tracking (LQT) controller optimized by a Multi-Objective gray Wolf Algorithm (MOGWA) is designed for a 6 Degree-Of-Freedom (DOF) quadcopter flying system. In order to reach this end, the state-space equations would be divided into two parts, one for attitude and altitude control and another for position control. The LQT method is implemented to determine the constant parameters of the designed controller by minimizing a quadratic form related to errors and control efforts. Then, to substantially improve the performance of the linear quadratic tracking scheme, the fractional-order derivatives of the system errors are considered as the control inputs, while the MOGWA is used for optimal determination of the related orders. A fuzzy system that employs triangular and trapezoidal membership functions as well as the center average defuzzifier and singleton fuzzifier, is designed to timely regulate the gains of the controller. The introduced strategy would be applied on the nonlinear quadcopter flying system, and the related diagrams would be revealed to illustrate the efficiency and ability of the introduced fuzzy optimal fractional-order linear quadratic tracking controller.http://www.sciencedirect.com/science/article/pii/S2666720723001200Fractional-order calculusFuzzy systemMulti-objective designQuadcopter flying robot |
| spellingShingle | M.J. Mahmoodabadi N. Rezaee Babak Optimized fuzzy fractional-order linear quadratic tracking control for a nonlinear system Results in Control and Optimization Fractional-order calculus Fuzzy system Multi-objective design Quadcopter flying robot |
| title | Optimized fuzzy fractional-order linear quadratic tracking control for a nonlinear system |
| title_full | Optimized fuzzy fractional-order linear quadratic tracking control for a nonlinear system |
| title_fullStr | Optimized fuzzy fractional-order linear quadratic tracking control for a nonlinear system |
| title_full_unstemmed | Optimized fuzzy fractional-order linear quadratic tracking control for a nonlinear system |
| title_short | Optimized fuzzy fractional-order linear quadratic tracking control for a nonlinear system |
| title_sort | optimized fuzzy fractional order linear quadratic tracking control for a nonlinear system |
| topic | Fractional-order calculus Fuzzy system Multi-objective design Quadcopter flying robot |
| url | http://www.sciencedirect.com/science/article/pii/S2666720723001200 |
| work_keys_str_mv | AT mjmahmoodabadi optimizedfuzzyfractionalorderlinearquadratictrackingcontrolforanonlinearsystem AT nrezaeebabak optimizedfuzzyfractionalorderlinearquadratictrackingcontrolforanonlinearsystem |