Adaptive fuzzy tracking control for non-affine nonlinear yaw channel of unmanned aerial vehicle helicopter

Abstract

The article deals with the problem of the yaw control of the unmanned aerial vehicle helicopter which is non-affine nonlinear by use of a novel projection-based adaptive fuzzy control approach. First, principle model and control design model of the yaw channel of the unmanned aerial vehicle helicopter are described. Then, a dynamic approximation technique is introduced to approach the non-affine model of the unmanned aerial vehicle helicopter into an affine model with variable parameters, which is applied to facilitate the design of nonlinear control scheme. Next, in the proposed controller, fuzzy controller is designed to deal with the unknown uncertainties and disturbances. Meanwhile, the projection-based adaptive law applied in fuzzy controller bounds the parameter estimation function and can also guarantee the robustness of the designed control scheme against uncertain disturbances. Moreover, the convergence and stability of the designed controller are proved by Lyapunov stability theory. Finally, the simulation results of the yaw channel of an unmanned aerial vehicle helicopter are performed to illustrate that the designed controller has good tracking performance, stability, and robustness under the condition of the time-vary uncertain disturbances.

A vision-aided fuzzy adaptive sliding mode controller for autonomous landing of a nonlinear model helicopter on a moving marine platform

“…For helicopter control design, more advanced and complicated control methods are studied in recent years and some of them are Pedro and Mathe (2015), Tang et al (2015); Cheng et al (2016), Yan et al (2016); Glida et al (2019), Hu et al (2020); and Shi and Cheng (2020). Also, a series of researches have been performed recently on the design of autopilot and morphing system for quadrotors and hexarotors (Köse and Oktay, 2020a, 2020b, 2021a, 2021b, 2021c).…”