Fuzzy Supervisory Backstepping Controller for Stabilization of Quadrotor Unmanned Aerial Vehicle

被引：0
|
作者：
Basri, Mohd Ariffanan Mohd [1 ]
Husain, Abdul Rashid [1 ]
Danapalasingam, Kumeresan A. [1 ]
机构：
[1] Univ Teknol Malaysia, Fac Elect Engn, Dept Control & Mechatron Engn, Skudai 81310, Johor, Malaysia
来源：
2014 5TH INTERNATIONAL CONFERENCE ON INTELLIGENT AND ADVANCED SYSTEMS (ICIAS 2014) | 2014年
关键词：
Quadrotor UAV; backstepping control; fuzzy supervisory;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
In this paper, a fuzzy supevisory backstepping controller (FSBC) is designed for the altitude and attitude stabilization of quadrotor unmanned aerial vehicle (UAV). The designed controller consists of a backstepping controller which can automatically select its parameters, on-line by a fuzzy supervisory mechanism. The stability criterion for the stabilization of the quadrotor is proven by the Lyapunov theorem. Numerical simulations using the dynamic model of a four degree of freedom (DOF) quadrotor UAV show the effectiveness of the approach. Besides, the simulation results indicate that the proposed design techniques can stabilize the quadrotor UAV with better performance than established linear design techniques.
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页数：5
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