Robust fuzzy tracking control of a quad-rotor unmanned aerial vehicle based on sector linearization and interval matrix approaches

Sun, Miaoping; Liu, Jingjing; Wang, Haibo; Nian, Xiaohong; Xiong, Hongyun

doi:10.1016/j.isatra.2018.07.034

Cited by 11 publications

(10 citation statements)

References 15 publications

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“…The special structure of a quadrotor has a wide range of advantages in that they are easy to manoeuvre and have the abilities to hovering, vertical takeoff and landing (VTOL), and other features not found in fixed‐wing aircraft. With these advantages, many studies on the quadrotor UAV have been actively conducted and a field of researches can be classified as localisation [2], navigation [3], controller design [4–18], and others. However, the dynamics of the quadorotor UAV is not only highly non‐linear but also underactuated, which makes the controller design complex.…”

Section: Introductionmentioning

confidence: 99%

“…To deal with the underactuated characteristic of the quadrotor UAV, a method of dividing the overall control system into attitude, altitude, and horizontal position control systems has been steadily employed in many studies, e.g. [16] and references therein.…”

Section: Introductionmentioning

confidence: 99%

“…From a controller design point of view, linear or non‐linear control theories have been applied, such as proportional–integral–derivative (PID) control [4], linear quadratic regulator (LQR) control [5], back stepping control [6, 7], adaptive control [8, 9], and linear matrix inequality (LMI)‐based control approaches [11–18]. The existing methods, however, have the following limitations: the linear control methods such as PID or LQR are easily applicable, but due to the characteristics of the quadrotor with highly non‐linear dynamics, only the control performance in the hovering state can be guaranteed.…”

Section: Introductionmentioning

confidence: 99%

“…Despite the aforesaid advantages, research on the T–S fuzzy model‐based control of the quadrotor UAV is still lacking compared to other non‐linear control approaches. Nevertheless, many researchers have studied on the designing a control of a quadrotor UAV via the T–S fuzzy‐model‐based control approach [12–18]. For example, the authors in [18] derived the T–S fuzzy model of the quadrotor and its attitude stabilisation condition with the disturbance attenuation performance.…”

Section: Introductionmentioning

confidence: 99%

“…For example, the authors in [18] derived the T–S fuzzy model of the quadrotor and its attitude stabilisation condition with the disturbance attenuation performance. Studies on the position control of the quadrotor were carried out in [16, 17] based on the hovering control rather than tracking control. In light of previous studies, the attitude and the position control of a quadrotor have been somewhat addressed.…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

Interval type‐2 fuzzy‐model‐based fault‐tolerant sliding mode tracking control of a quadrotor UAV under actuator saturation

Kim

Hwang

Joo

2020

IET Control Theory & Appl

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In this study, a fault‐tolerant position tracking control of a quadrotor unmanned aerial vehicle (UAV) is addressed by proposing a model reference interval type‐2 (IT‐2) fuzzy‐model‐based sliding mode tracking control methodology. Considering the underactuated characteristic of the quadrotor UAV, first, the authors separate the overall dynamics of the quadrotor into the attitude, altitude, and position subsystems. Moreover, each of them is represented via IT‐2 fuzzy model to deal with uncertainties of its membership functions. After then, a linear reference model supposed to be tracked by each subsystem is designed, on which each tracking error dynamics is derived. Given the tracking error dynamics and additive actuator faults, an IT‐2 integral fuzzy sliding surface is proposed to enhance the robust tracking performance of the entire system. As a result, a linear matrix inequality‐based sufficient condition is derived to guarantee the asymptotic stabilisation as well as satisfying an H∞ tracking performance. Furthermore, a reachability condition of the designed sliding surface is also proposed. Finally, the authors provide design examples to demonstrate the effectiveness of the proposed position tracking control methodology.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Interval type‐2 fuzzy‐model‐based fault‐tolerant sliding mode tracking control of a quadrotor UAV under actuator saturation

Kim

Hwang

Joo

2020

IET Control Theory & Appl

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Path Following Control Strategy for Underactuated Unmanned Surface Vehicle Subject to Multiple Constraints

Wang

Fan

2021

IEEJ Transactions Elec Engng

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This paper is concerned with the path following control for an underactuated unmanned surface vehicle (USV) subject to modeling error and input saturation under time‐varying external disturbances. In this note, a novel trajectory linearization control (TLC) method is first introduced in the design of path following controller for an unmanned surface vessel. Adaptive line‐of‐sight (LOS) algorithm is used in the navigation strategy, which not only solves the sideslip angle problem caused by external disturbances but also optimizes the convergence speed. The neural network minimum learning parameter (MLP) method is used to compensate for modeling errors and external disturbances. Compared with multi‐layer neural networks, MLP solves the problem of ‘dimension disaster’. Meanwhile, in order to increase the robustness of the system, adaptive technology is employed to compensate for the compensation error of MLP. In addition, an auxiliary dynamic system is introduced into the controller design to address potential input saturation issue. Considering the above practical conditions, it is more convenient for the engineering implementation of the proposed control path following the control system. Using Lyapunov stability analysis theory, it is proven that all error signals in the system are uniformly ultimately bounded. Finally, two simulation experiments are presented to demonstrate the feasibility of the proposed control strategy. © 2021 Institute of Electrical Engineers of Japan. Published by Wiley Periodicals LLC.

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Fuzzy Modelling Methodologies Based on OKID/ERA Algorithm Applied to Quadrotor Aerial Robots

Júnior

Costa

2020

Intelligent Systems: Theory, Research and Innovation in Applications

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Robust fuzzy tracking control of a quad-rotor unmanned aerial vehicle based on sector linearization and interval matrix approaches

Cited by 11 publications

References 15 publications

Interval type‐2 fuzzy‐model‐based fault‐tolerant sliding mode tracking control of a quadrotor UAV under actuator saturation

Interval type‐2 fuzzy‐model‐based fault‐tolerant sliding mode tracking control of a quadrotor UAV under actuator saturation

Path Following Control Strategy for Underactuated Unmanned Surface Vehicle Subject to Multiple Constraints

Fuzzy Modelling Methodologies Based on OKID/ERA Algorithm Applied to Quadrotor Aerial Robots

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