Control of a drone: study and analysis of the robustness

• Autorzy: Zemalache K. M. , Beji L. , Maaref H.
• Języki publikacji: EN

Abstrakty

EN

The work describes an automatically on-line Self-Tunnable Fuzzy Interference Systems (STFIS) of a new configuration of mini-flying called XSF (X4 Stationary Flyer) drone. A Fuzzy controller based on-line optimization of a zero order Takagi-Sugeno fuzzy interference system (FIS) by a back propagation like algorithm is successfully applied. It is used to minimize a cost function that is made up of a quadratic error term and a weight decay term that prevents an excessive growth of parameters. Thus, we carried out control for helical trajectories by using the STFIS technique. This permits to prove the effectiveness of the proposed control law. Simulation results and a comparison with a Static Feedback Linearization controller (SFL) are presented and discussed. We studied the robustness of the two used controllers in the presence of disturbances. We presented the case of an engine breakdown as well as a gust of wind and taking into account white noise disturbances.

Słowa kluczowe

EN

self-tunable fuzzy interference system; static feedback linearization controller; tracking control; dynamic systems; drone

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2008
• Tom: Vol. 2, No. 1
• Strony: 33--42
• Opis fizyczny: Bibliogr. 39 poz., rys.

Twórcy

autor

Zemalache K. M.

autor

Beji L.

autor

Maaref H.

• IBISC Laboratory, CNRS-FRE 28 73, Universite d'Evry Val d'Essonne 40, rue du Pelvoux, 91020, Evry Cedex, France,

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