- Tytuł:
- Adaptive fuzzy-sliding mode controller for trajectory tracking control of quad-rotor
- Autorzy:
-
Simoud, Lahcen
Kadri, Boufeldja
Bousserhane, Ismail Khalil - Powiązania:
- https://bibliotekanauki.pl/articles/384825.pdf
- Data publikacji:
- 2020
- Wydawca:
- Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
- Tematy:
-
quadrotor UAV
sliding mode control
adaptive PD-Slidng mode controller
fuzzy PD-sliding mode - Opis:
- This paper deals with the design of an adaptive-fuzzy-PD-Sliding mode controller to achieve stabilization of a quadrotor aircraft in the presence of wind disturbance. Firstly, the dynamic system modeling is carried out using Euler-Lagrange formalism. Then, an adaptive PD-sliding mode control system with an integral-operation switching surface is investigated for quadrotor desired trajectory tracking. Finally, an adaptive fuzzy-PD-sliding mode controller is proposed to achieve control objectives and system stabilization where the fuzzy logic system used to dynamically control parameters settings of the PD-sliding mode equivalent control law. Effectiveness and robustness of the proposed control scheme is verified through simulation results taking into account external disturbances. The simulation results of a quadrotor aircraft control with the proposed controller demonstrate the high performance during flight such as null tracking error and robustness in the presence of external disturbances.
- Źródło:
-
Journal of Automation Mobile Robotics and Intelligent Systems; 2020, 14, 2; 15-24
1897-8649
2080-2145 - Pojawia się w:
- Journal of Automation Mobile Robotics and Intelligent Systems
- Dostawca treści:
- Biblioteka Nauki
Artykuł