Fuzzy-Lyapunov based controller for a quadrocopter

• Autorzy: Kusznir T. , Smoczek J.

Identyfikatory

DOI

10.5604/01.3001.0010.3127

• Języki publikacji: EN

Abstrakty

EN

Quadrocopters are nonlinear and inherently unstable systems. To be able to account for the nonlinearities during more aggressive manoeuvres nonlinear control methods need to be utilized to obtain the desired position while at the same time guaranteeing stability. In the article, the quadrocopter dynamics is modelled using the Newton-Euler method. The propeller aerodynamics is modelled using a combination of momentum theory and blade element theory. There are two different control objectives; the 1st objective requires the quadrocopter to reach a desired attitude set point using, while the 2nd objective requires the quadrocopter to track an attitude trajectory. In both cases, Lyapunov stability criterion, in conjunction with LaSalle’s invariance principle, is used to guarantee the system becomes asymptotically stable. In the case of reaching the desired attitude set point, a direct Lyapunov control method is implemented with the control constants determined empirically. For the trajectory tracking, limited knowledge is assumed on the system dynamics and the Mamdani fuzzy controller is used with a rule base that satisfy the Lyapunov stability criterion. The fuzzy membership functions developed empirically and a centre of gravity defuzzification method is used. All simulations are done in MATLAB/Simulink. The results of the numerical simulation are presented in the article.

Słowa kluczowe

EN

quadrocopter; fuzzy control; Lyapunov stability

• Wydawca: Łukasiewicz Research Network - Institute of Aviation ; European Science Society of Powertrain and Transport KONES Poland ; Wydawnictwo Instytutu Technicznego Wojsk Lotniczych
• Czasopismo: Journal of KONES
• Rocznik: 2017
• Tom: Vol. 24, No. 4
• Strony: 125--132
• Opis fizyczny: Bibliogr. 13 poz., rys.

Twórcy

autor

Kusznir T.

• AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Mickiewicza Av. 30, 30-059 Krakow, Poland tel.: [phone], fax: + 48 12 6173531

autor

Smoczek J.

• AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Mickiewicza Av. 30, 30-059 Krakow, Poland tel.: [phone], fax: + 48 12 6173531

Bibliografia

• [1] Bouabdallah, S., Design and control of quadrotors with application to autonomous flying, Ph.D. dissertation, EPFL, 2006.
• [2] Chmaj, G., Buratowski, T., Uhl, T., Seweryn, K., Banaszkiewicz, M., The dynamics influence of the attached manipulator on unmanned aerial vehicle, Aerospace Robotics, GeoPlanet Earth and Planetary Sciences, Springer-Verlag Berlin Heidelberg, pp. 109-119, 2013.
• [3] Fay, G., Derivation of the aerodynamic forces for the mesicopter simulation, Stanford University, USA 2001.
• [4] LaSalle, J. P, Some Extensions of Liapunov’s Second Method, IRE Transactions on Circuit Theory, pp. 520-527, 1960.
• [5] Leishman, J. G., Principles of helicopter aerodynamics, Cambridge University Press, 2006.
• [6] Margaliot, M., Langholz, G., Fuzzy-Lyapunov based approach to the design of fuzzy controllers, Fuzzy Sets and Systems, Vol. 106, pp. 49-59, 1999.
• [7] Ołdziej, D., Gosiewski, Z., Modelling of dynamic and control of six-rotor autonomous unmanned aerial vehicle, Solid State Phenomena, Vol. 198, pp. 220-225, 2013.
• [8] Prouty, R., Helicopter performance, stability, and control, 5th ed. Malabar: Krieger Pub., 2005.
• [9] Raffo, G. V., et al., Nonlinear H∞ controller for the quad-rotor helicopter with input coupling, IFAC Proceedings, Vol. 44, pp. 13834-13839, 2011.
• [10] Salih, A. L., et al., Modelling and PID controller design for a quadrotor unmanned air vehicle, Proceedings of IEEE International Conference on Automation Quality and Testing Robotics, pp. 1-5, 2010.
• [11] Schmidt, D. K., Modern Flight Dynamics, McGraw-Hill, 2012.
• [12] Stepniewski, W., Keys, C., Rotary-wing aerodynamics, 1st ed. New York: Dover Publications, 1984.
• [13] Van Broekhoven, E., De Baets, B., A comparison of three methods for computing the centre of gravity defuzzification, Proceedings of IEEE International Conference on Fuzzy Systems, pp. 1537-1542, 2004.

Uwagi

PL

Opracowanie ze środków MNiSW w ramach umowy 812/P-DUN/2016 na działalność upowszechniającą naukę (zadania 2017).