Adaptive fuzzy-sliding mode controller for trajectory tracking control of quad-rotor

• Autorzy: Simoud Lahcen , Kadri Boufeldja , Bousserhane Ismail Khalil

Identyfikatory

DOI

10.14313/JAMRIS/2-2020/15

• Języki publikacji: EN

Abstrakty

EN

This paper deals with the design of an adaptive-fuzzy-PD-Sliding mode controller to achieve stabilization of a quadrotor aircraft in the presence of wind disturbance. Firstly, the dynamic system modeling is carried out using Euler-Lagrange formalism. Then, an adaptive PD-sliding mode control system with an integral-operation switching surface is investigated for quadrotor desired trajectory tracking. Finally, an adaptive fuzzy-PD-sliding mode controller is proposed to achieve control objectives and system stabilization where the fuzzy logic system used to dynamically control parameters settings of the PD-sliding mode equivalent control law. Effectiveness and robustness of the proposed control scheme is verified through simulation results taking into account external disturbances. The simulation results of a quadrotor aircraft control with the proposed controller demonstrate the high performance during flight such as null tracking error and robustness in the presence of external disturbances.

Słowa kluczowe

EN

quadrotor UAV; sliding mode control; adaptive PD-Slidng mode controller; fuzzy PD-sliding mode

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2020
• Tom: Vol. 14, No. 2
• Strony: 15--24
• Opis fizyczny: Bibliogr. 25 poz., rys.

Twórcy

autor

Simoud Lahcen

• Smart-Grids and Renewable Energies Laboratory, University of Tahri Mohammed-Béchar, Algeria

autor

Kadri Boufeldja

• Smart-Grids and Renewable Energies Laboratory, University of Tahri Mohammed-Béchar, Algeria

autor

Bousserhane Ismail Khalil

• Smart-Grids and Renewable Energies Laboratory, University of Tahri Mohammed-Béchar, Algeria

Bibliografia

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Uwagi

Opracowanie rekordu ze środków MNiSW, umowa Nr 461252 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2020).