A Comparative Study on the Control of Quadcopter UAVs by using Singleton and Non-Singleton Fuzzy Logic Controllers
Fuzzy logic controllers (FLCs) have extensively been used for the autonomous control and guidance of unmanned aerial vehicles (UAVs) due to their capability of handling uncertainties and delivering adequate control without the need for a precise, mathematical system model which is often either unava...
| Main Authors: | , , , , , |
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| Format: | Conference Paper |
| Language: | English |
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2016
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| Online Access: | https://hdl.handle.net/10356/80575 http://hdl.handle.net/10220/41491 http://wcci2016.org/document/fuzzIEEEprog.pdf |
| _version_ | 1826109727019368448 |
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| author | Fu, Changhong Sarabakha, Andriy Kayacan, Erdal Wagner, Christian John, Robert Garibaldi, Jonathan M. |
| author2 | School of Mechanical and Aerospace Engineering |
| author_facet | School of Mechanical and Aerospace Engineering Fu, Changhong Sarabakha, Andriy Kayacan, Erdal Wagner, Christian John, Robert Garibaldi, Jonathan M. |
| author_sort | Fu, Changhong |
| collection | NTU |
| description | Fuzzy logic controllers (FLCs) have extensively been used for the autonomous control and guidance of unmanned aerial vehicles (UAVs) due to their capability of handling uncertainties and delivering adequate control without the need for a precise, mathematical system model which is often either unavailable or highly costly to develop. Despite the fact that non-singleton FLCs (NSFLCs) have shown more promising performance in several applications when compared to their singleton counterparts (SFLCs), most of UAV applications are still realized by using SFLCs. In this paper, we explore the potential of both standard and the recently introduced centroid based NSFLCs, i.e., Sta-NSFLC and Cen-NSFLC, for the control of a quadcopter UAV under various input noise conditions using different levels of fuzzifier, and a comparative study has been conducted using the three aforementioned FLCs. We present a series of simulation-based experiments, the simulation results show that the control performances of NSFLCs are better than those of SFLC, and the Cen-NSFLC outperforms the Sta-NSLFC especially under highly noisy conditions. |
| first_indexed | 2024-10-01T02:23:01Z |
| format | Conference Paper |
| id | ntu-10356/80575 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T02:23:01Z |
| publishDate | 2016 |
| record_format | dspace |
| spelling | ntu-10356/805752023-03-04T17:07:02Z A Comparative Study on the Control of Quadcopter UAVs by using Singleton and Non-Singleton Fuzzy Logic Controllers Fu, Changhong Sarabakha, Andriy Kayacan, Erdal Wagner, Christian John, Robert Garibaldi, Jonathan M. School of Mechanical and Aerospace Engineering 2016 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE) ST Engineering-NTU Corporate Lab fuzzy logic controllers unmanned aerial vehicles Fuzzy logic controllers (FLCs) have extensively been used for the autonomous control and guidance of unmanned aerial vehicles (UAVs) due to their capability of handling uncertainties and delivering adequate control without the need for a precise, mathematical system model which is often either unavailable or highly costly to develop. Despite the fact that non-singleton FLCs (NSFLCs) have shown more promising performance in several applications when compared to their singleton counterparts (SFLCs), most of UAV applications are still realized by using SFLCs. In this paper, we explore the potential of both standard and the recently introduced centroid based NSFLCs, i.e., Sta-NSFLC and Cen-NSFLC, for the control of a quadcopter UAV under various input noise conditions using different levels of fuzzifier, and a comparative study has been conducted using the three aforementioned FLCs. We present a series of simulation-based experiments, the simulation results show that the control performances of NSFLCs are better than those of SFLC, and the Cen-NSFLC outperforms the Sta-NSLFC especially under highly noisy conditions. Accepted version 2016-09-26T04:50:54Z 2019-12-06T13:52:31Z 2016-09-26T04:50:54Z 2019-12-06T13:52:31Z 2016-07-01 2016 Conference Paper Fu, C., Sarabakha, A., Kayacan, E., Wagner, C., John, R., & Garibaldi, J. M. (2016). A Comparative Study on the Control of Quadcopter UAVs by using Singleton and Non-Singleton Fuzzy Logic Controllers. 2016 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE), 1-8. https://hdl.handle.net/10356/80575 http://hdl.handle.net/10220/41491 http://wcci2016.org/document/fuzzIEEEprog.pdf 193063 en © 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. 8 p. application/pdf |
| spellingShingle | fuzzy logic controllers unmanned aerial vehicles Fu, Changhong Sarabakha, Andriy Kayacan, Erdal Wagner, Christian John, Robert Garibaldi, Jonathan M. A Comparative Study on the Control of Quadcopter UAVs by using Singleton and Non-Singleton Fuzzy Logic Controllers |
| title | A Comparative Study on the Control of Quadcopter UAVs by using Singleton and Non-Singleton Fuzzy Logic Controllers |
| title_full | A Comparative Study on the Control of Quadcopter UAVs by using Singleton and Non-Singleton Fuzzy Logic Controllers |
| title_fullStr | A Comparative Study on the Control of Quadcopter UAVs by using Singleton and Non-Singleton Fuzzy Logic Controllers |
| title_full_unstemmed | A Comparative Study on the Control of Quadcopter UAVs by using Singleton and Non-Singleton Fuzzy Logic Controllers |
| title_short | A Comparative Study on the Control of Quadcopter UAVs by using Singleton and Non-Singleton Fuzzy Logic Controllers |
| title_sort | comparative study on the control of quadcopter uavs by using singleton and non singleton fuzzy logic controllers |
| topic | fuzzy logic controllers unmanned aerial vehicles |
| url | https://hdl.handle.net/10356/80575 http://hdl.handle.net/10220/41491 http://wcci2016.org/document/fuzzIEEEprog.pdf |
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