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.
引用
收藏
页数：5
相关论文
共 50 条
  • [41] Observer-based Adaptive Fuzzy Backstepping Tracking Control of Quadrotor Unmanned Aerial Vehicle Powered by Li-ion Battery
    Yacef, Fouad
    Bouhali, Omar
    Hamerlain, Mustapha
    Rizoug, Nassim
    JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 2016, 84 (1-4) : 179 - 197
  • [42] Nonlinear Robust Backstepping Controller for Attitude Control of a Rotary Wing Unmanned Aerial Vehicle
    Roy, T. K.
    Morshed, M.
    Tumpa, F. K.
    Pervej, M. F.
    2015 IEEE INTERNATIONAL WIE CONFERENCE ON ELECTRICAL AND COMPUTER ENGINEERING (WIECON-ECE), 2015, : 227 - 230
  • [43] A Novel Nonlinear Backstepping-Based Control Approach for Quadrotor Unmanned Aerial Vehicle Transportation Systems
    Liang, Xiao
    Fang, Yongchun
    Sun, Ning
    PROCEEDINGS OF THE 36TH CHINESE CONTROL CONFERENCE (CCC 2017), 2017, : 884 - 889
  • [44] Fuzzy Sliding Mode Tracking Control of the Quadrotor Unmanned Aerial Vehicle with Unknown Disturbances
    Wang, Yong
    Wang, Ning
    Liang, Xiaoling
    Er, Meng Joo
    2016 IEEE CHINESE GUIDANCE, NAVIGATION AND CONTROL CONFERENCE (CGNCC), 2016, : 1132 - 1137
  • [45] Full Control of Quadrotor Unmanned Aerial Vehicle using Multivariable Proportional Integral Derivative Controller
    Hallam, Nasyatul
    Syazwanadira, Fazilah
    Fakharulrazi, Nur Alvani
    Yakub, Fitri
    Rasid, Zainudin A.
    Sarip, Shamsul
    2019 IEEE 9TH INTERNATIONAL CONFERENCE ON SYSTEM ENGINEERING AND TECHNOLOGY (ICSET), 2019, : 447 - 452
  • [46] Sliding mode observer and backstepping control for a quadrotor unmanned aerial vehicles
    Madani, Tarek
    Benallegue, Abdelaziz
    2007 AMERICAN CONTROL CONFERENCE, VOLS 1-13, 2007, : 2462 - 2467
  • [47] Dynamic feedback controller of Euler angles and wind parameters estimation for a quadrotor unmanned aerial vehicle
    Mokhtari, A
    Benallegue, A
    2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS, 2004, : 2359 - 2366
  • [48] Robust fixed time controller with motor dynamics and composite disturbances for a quadrotor unmanned aerial vehicle
    Shang, Wei
    Hu, Shichao
    Li, Xiao
    Tu, Xikai
    INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 2020, 17 (05):
  • [49] Designing and Implementation of Autonomous Quadrotor as Unmanned Aerial Vehicle
    Setiono, Felix Yustian
    Candrasaputra, Anthony
    Prasetyo, Tobias Bimo
    Santoso, Kho Lukas Budi
    2016 3RD INTERNATIONAL CONFERENCE ON INFORMATION TECHNOLOGY, COMPUTER, AND ELECTRICAL ENGINEERING (ICITACEE), 2016, : 17 - 20
  • [50] Autonomous Control System for the Quadrotor Unmanned Aerial Vehicle
    Zhang Yao
    Xian Bin
    Yin Qiang
    Liu Yang
    Wang Fu
    PROCEEDINGS OF THE 31ST CHINESE CONTROL CONFERENCE, 2012, : 4862 - 4867
12345