Adaptive Fuzzy Model-free Control For 3d Trajectory Tracking Of Quadrotor

Detalhes bibliográficos
Autor(a) principal: Chekakta, Zakaria
Data de Publicação: 2020
Outros Autores: Zerikat, Mokhtar, Bouzid, Yasser, Koubaa, Anis
Tipo de documento: Artigo
Idioma: eng
Título da fonte: Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
Texto Completo: http://hdl.handle.net/10400.22/16329
Resumo: This paper presents a novel adaptive control strategy with rejection ability for unmanned aerial vehicles (UAVs), namely fuzzy model-free control (FMFC). It is based on the model-free control (MFC) concept, where the control parameters are tuned online using fuzzy logic. The controller assumes an ultra-local model that can compensate unknown/unmodelled dynamics, uncertainties and external disturbances, ensuring a good robustness level. Moreover, the fuzzy logic system is used to tune online the proportional-derivative terms due to its heuristic aspect. These compensation and adaptation mechanisms allow ensuring good compromise robustness-performance even in the presence of disturbances. Several experiments, using RotorS Gazebo micro aerial vehicle (MAV) simulator, are provided to demonstrate the effectiveness of the proposed controller compared with other techniques. The fuzzy model-free controller shows superior performance without the time-consuming and tedious tuning task.
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spelling Adaptive Fuzzy Model-free Control For 3d Trajectory Tracking Of QuadrotorMicro aerial vehicleMAVModel-free controlMFCFuzzy logicAdaptive controlRobust controlThis paper presents a novel adaptive control strategy with rejection ability for unmanned aerial vehicles (UAVs), namely fuzzy model-free control (FMFC). It is based on the model-free control (MFC) concept, where the control parameters are tuned online using fuzzy logic. The controller assumes an ultra-local model that can compensate unknown/unmodelled dynamics, uncertainties and external disturbances, ensuring a good robustness level. Moreover, the fuzzy logic system is used to tune online the proportional-derivative terms due to its heuristic aspect. These compensation and adaptation mechanisms allow ensuring good compromise robustness-performance even in the presence of disturbances. Several experiments, using RotorS Gazebo micro aerial vehicle (MAV) simulator, are provided to demonstrate the effectiveness of the proposed controller compared with other techniques. The fuzzy model-free controller shows superior performance without the time-consuming and tedious tuning task.Inderscience PublishersRepositório Científico do Instituto Politécnico do PortoChekakta, ZakariaZerikat, MokhtarBouzid, YasserKoubaa, Anis20202119-01-01T00:00:00Z2020-01-01T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articleapplication/pdfhttp://hdl.handle.net/10400.22/16329eng2045-106710.1504/IJMA.2020.109058metadata only accessinfo:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2023-03-13T13:03:05Zoai:recipp.ipp.pt:10400.22/16329Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-19T17:36:01.291313Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse
dc.title.none.fl_str_mv Adaptive Fuzzy Model-free Control For 3d Trajectory Tracking Of Quadrotor
title Adaptive Fuzzy Model-free Control For 3d Trajectory Tracking Of Quadrotor
spellingShingle Adaptive Fuzzy Model-free Control For 3d Trajectory Tracking Of Quadrotor
Chekakta, Zakaria
Micro aerial vehicle
MAV
Model-free control
MFC
Fuzzy logic
Adaptive control
Robust control
title_short Adaptive Fuzzy Model-free Control For 3d Trajectory Tracking Of Quadrotor
title_full Adaptive Fuzzy Model-free Control For 3d Trajectory Tracking Of Quadrotor
title_fullStr Adaptive Fuzzy Model-free Control For 3d Trajectory Tracking Of Quadrotor
title_full_unstemmed Adaptive Fuzzy Model-free Control For 3d Trajectory Tracking Of Quadrotor
title_sort Adaptive Fuzzy Model-free Control For 3d Trajectory Tracking Of Quadrotor
author Chekakta, Zakaria
author_facet Chekakta, Zakaria
Zerikat, Mokhtar
Bouzid, Yasser
Koubaa, Anis
author_role author
author2 Zerikat, Mokhtar
Bouzid, Yasser
Koubaa, Anis
author2_role author
author
author
dc.contributor.none.fl_str_mv Repositório Científico do Instituto Politécnico do Porto
dc.contributor.author.fl_str_mv Chekakta, Zakaria
Zerikat, Mokhtar
Bouzid, Yasser
Koubaa, Anis
dc.subject.por.fl_str_mv Micro aerial vehicle
MAV
Model-free control
MFC
Fuzzy logic
Adaptive control
Robust control
topic Micro aerial vehicle
MAV
Model-free control
MFC
Fuzzy logic
Adaptive control
Robust control
description This paper presents a novel adaptive control strategy with rejection ability for unmanned aerial vehicles (UAVs), namely fuzzy model-free control (FMFC). It is based on the model-free control (MFC) concept, where the control parameters are tuned online using fuzzy logic. The controller assumes an ultra-local model that can compensate unknown/unmodelled dynamics, uncertainties and external disturbances, ensuring a good robustness level. Moreover, the fuzzy logic system is used to tune online the proportional-derivative terms due to its heuristic aspect. These compensation and adaptation mechanisms allow ensuring good compromise robustness-performance even in the presence of disturbances. Several experiments, using RotorS Gazebo micro aerial vehicle (MAV) simulator, are provided to demonstrate the effectiveness of the proposed controller compared with other techniques. The fuzzy model-free controller shows superior performance without the time-consuming and tedious tuning task.
publishDate 2020
dc.date.none.fl_str_mv 2020
2020-01-01T00:00:00Z
2119-01-01T00:00:00Z
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.driver.fl_str_mv info:eu-repo/semantics/article
format article
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://hdl.handle.net/10400.22/16329
url http://hdl.handle.net/10400.22/16329
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv 2045-1067
10.1504/IJMA.2020.109058
dc.rights.driver.fl_str_mv metadata only access
info:eu-repo/semantics/openAccess
rights_invalid_str_mv metadata only access
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv Inderscience Publishers
publisher.none.fl_str_mv Inderscience Publishers
dc.source.none.fl_str_mv reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron:RCAAP
instname_str Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron_str RCAAP
institution RCAAP
reponame_str Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
collection Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
repository.name.fl_str_mv Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
repository.mail.fl_str_mv
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