Fuzzy Gains-Scheduling of an Integral Sliding Mode Controller for a Quadrotor Unmanned Aerial Vehicle
Journal Title: International Journal of Advanced Computer Science & Applications - Year 2018, Vol 9, Issue 3
Abstract
This paper investigates an Adaptive Fuzzy Gains-Scheduling Integral Sliding Mode Controller (AFGS-ISMC) design approach to deal with the attitude and altitude stabilization problem of an Unmanned Aerial Vehicles (UAV) precisely of a quadrotor. The Integral Sliding Mode Control (ISMC) seems to be an adequate control tool to remedy this problem. The selection of the controller parameters is done most of the time using repetitive trials-errors based methods. This method is not completely reliable and becomes a time-consuming and difficult task. Here we propose the tuning and selection of all ISMC gains adaptively according to a fuzzy supervisor. The sliding surface and its differential are declared as Fuzzy Logic Supervisor (FLS) inputs and the integral sliding mode control gains as the FLS outputs. The proposed fuzzy-based supervision mechanisms modify all ISMC gains to be time-varying and further enhance the performance and robustness of the obtained adaptive nonlinear controllers against uncertainties and external disturbances. The proposed adaptive fuzzy technique increases the effectiveness of the ISMC structure compared to the classical SMC strategy and excludes the dull and repetitive trials-errors process for its design and tuning. Various simulations have been carried out and followed by comparison and discussion of the results in order to prove the superiority of the suggested fuzzy gains-scheduled ISMC approach for the quadrotor attitude and altitude flight stabilization.
Authors and Affiliations
Nour Ben Ammar, Soufiene Bouallègue, Joseph Haggège
Keywords
Related Articles
- EP ID EP278064
- DOI 10.14569/IJACSA.2018.090320
- Views 93
- Downloads 0
An Effective Framework for Tweet Level Sentiment Classification using Recursive Text Pre-Processing Approach
With around 330 million people around the globe tweet 6000 times per second to express their feelings about a product, policy, service, or an event. Twitter message majorly consists of thoughts. Thoughts are mostly expre...
Using PCA and Factor Analysis for Dimensionality Reduction of Bio-informatics Data
Large volume of Genomics data is produced on daily basis due to the advancement in sequencing technology. This data is of no value if it is not properly analysed. Different kinds of analytics are required to extract usef...
Smart Transportation Application using Global Positioning System
Significant increase is noticed in the utilization of mobile applications for different purposes in the past decade. These applications can improve any individual’s way of life in many aspects such as communication, coll...
Secured Wireless Communication using Fuzzy Logic based High Speed Public-Key Cryptography (FLHSPKC)
In this paper secured wireless communication using fuzzy logic based high speed public-key cryptography (FLHSPKC) has been proposed by satisfying the major issues likes computational safety, power management and restrict...
Automation of Combinatorial Interaction Test (CIT) Case Generation and Execution for Requirements based Testing (RBT) of Complex Avionics Systems
In the field of avionics, most of the software systems are either safety critical or mission critical. These systems are developed with high quality standards strictly following the relevant guidelines and procedures. Du...