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A hybrid optimal backstepping and adaptive fuzzy control for autonomous quadrotor helicopter with time-varying disturbance

Mohd. Basri, Mohd. Ariffanan and Husain, Abdul Rashid and Danapalasingam, Kumeresan A. (2015) A hybrid optimal backstepping and adaptive fuzzy control for autonomous quadrotor helicopter with time-varying disturbance. Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering, 229 (12). pp. 2178-2195. ISSN 0954-4100

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Official URL: http://dx.doi.org/10.1177/0954410015569583

Abstract

In this paper, a hybrid control system called as backstepping adaptive fuzzy control system, which integrates nominal and compensation controller is developed for autonomous quadrotor helicopter with inherent time-varying disturbance. In this hybrid control system, the nominal controller based on backstepping technique is the main controller, and the compensation controller containing a fuzzy control approach is used to eliminate the effect of uncertainties caused by external disturbance. In addition, in order to relax the requirement of prior knowledge on the bound of external disturbance, an online adaptation law is derived. Asymptotical stability of the closed-loop control system is analytically proven via the Lyapunov theorem. For the problem of determining the backstepping control parameters, particle swarm optimization algorithm has been employed. Finally, the designed controller is experimentally evaluated on a quadrotor simulation environment to demonstrate the effectiveness and merits of the theoretical development.

Item Type:Article
Uncontrolled Keywords:algorithms, backstepping, closed loop control systems
Subjects:T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions:Electrical Engineering
ID Code:55476
Deposited By: Practical Student
Deposited On:08 Sep 2016 06:38
Last Modified:15 Feb 2017 04:52

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