Paper Info
Title
Fuzzy-Based Hybrid Control Algorithm for the Stabilization of a Tri-Rotor UAV.
Abstract
In this paper, a new and novel mathematical fuzzy hybrid scheme is proposed for the stabilization of a tri-rotor unmanned aerial vehicle (UAV). The fuzzy hybrid scheme consists of a fuzzy logic controller, regulation pole-placement tracking (RST) controller with model reference adaptive control (MRAC), in which adaptive gains of the RST controller are being fine-tuned by a fuzzy logic controller. Brushless direct current (BLDC) motors are installed in the triangular frame of the tri-rotor UAV, which helps maintain control on its motion and different altitude and attitude changes, similar to rotorcrafts. MRAC-based MIT rule is proposed for system stability. Moreover, the proposed hybrid controller with nonlinear flight dynamics is shown in the presence of translational and rotational velocity components. The performance of the proposed algorithm is demonstrated via MATLAB simulations, in which the proposed fuzzy hybrid controller is compared with the existing adaptive RST controller. It shows that our proposed algorithm has better transient performance with zero steady-state error, and fast convergence towards stability.
Year
DOI
Venue
2016
10.3390/s16050652
SENSORS
Keywords
Field
DocType
Unmanned Aerial Vehicle,Tri-Rotor UAV,RST controller,fuzzy hybrid controller
Convergence (routing),Control theory,MATLAB,Control theory,Fuzzy logic,Control engineering,Rotor (electric),Engineering,Adaptive control,Open-loop controller,Flight dynamics
Journal
Volume
Issue
ISSN
16
5
1424-8220
Citations 
PageRank 
References 
2
0.40
2
Authors
3
Name
Order
Citations
PageRank
Zain Anwar Ali120.40
Dao Bo Wang2215.92
M. Aamir3155.75