Proceedings ArticleDOI
A New Robust Adaptive-Fuzzy Control Method Applied to Quadrotor Helicopter Stabilization
Cosmin Coza,Chris J. B. Macnab +1 more
- pp 454-458
TLDR
A new method for adaptive-fuzzy control achieves stabilization of a quadrotor helicopter in the presence of sinusoidal wind disturbance using a set of alternate membership function centers that guides the adaptation process in order to prevent drift.Abstract:
A new method for adaptive-fuzzy control achieves stabilization of a quadrotor helicopter in the presence of sinusoidal wind disturbance. Techniques traditionally used in adaptive control for robust parameter updates may not be sufficient for fuzzy schemes. In particular, e-modification may result in the fuzzy-membership centers drifting to large values when persistent oscillations are present in the input. These large values can cause control signal chatter, which can be undesirable or even cause instability if they excite unmodeled dynamics. A new method for robust updates is proposed that prevents this drift in the fuzzy membership centers. In the new method, a set of alternate membership function centers guides the adaptation process in order to prevent drift. A Lyapunov-stability proof ensures the uniform ultimate boundedness of all signals. A simulation of a quadrotor helicopter demonstrates the high performance and robust stability of the new method.read more
Citations
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Journal ArticleDOI
Feedback linearization vs. adaptive sliding mode control for a quadrotor helicopter
TL;DR: In this paper, two types of nonlinear controllers for an autonomous quadrotor helicopter are presented: a feedback linearization controller and an adaptive sliding mode controller using input augmentation in order to account for the underactuated property of the helicopter, sensor noise, and uncertainty.
Modelling, Identification and Control of a Quadrotor Helicopter
TL;DR: In this article, the authors used the Newton-Euler formalism to model the dynamic system of a quadrotor helicopter and evaluated the robustness of the control algorithms with a Matlab-Simulink simulator.
Proceedings ArticleDOI
Autonomous landing of a VTOL UAV on a moving platform using image-based visual servoing
Daewon Lee,Tyler Ryan,H. Jin Kim +2 more
TL;DR: An image-based visual servoing algorithm to control a vertical-takeoff-and-landing unmanned aerial vehicle while tracking and landing on a moving platform and generates a velocity reference command used as the input to an adaptive sliding mode controller is described.
Journal ArticleDOI
Robust Control of Four-Rotor Unmanned Aerial Vehicle With Disturbance Uncertainty
TL;DR: Lyapunov theorem shows that the proposed algorithms can guarantee asymptotic stability and tracking of the linear and angular motion of a quadrotor vehicle.
Proceedings ArticleDOI
Robust neural network control of a quadrotor helicopter
TL;DR: In this paper, a new adaptive neural network control was proposed to stabilize a quadrotor helicopter against modeling error and considerable wind disturbance, compared to both deadzone and e-modification adaptive techniques.
References
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Proceedings ArticleDOI
Control of a quadrotor helicopter using visual feedback
TL;DR: Control methods for an autonomous four-rotor helicopter, called a quadrotor, using visual feedback as the primary sensor are presented, and initial flight experiments are presented where the helicopter is restricted to vertical and yaw motions.
Book
Stable Adaptive Control and Estimation for Nonlinear Systems: Neural and Fuzzy Approximator Techniques
TL;DR: Stable Adaptive Control and Estimation for Nonlinear Systems: Neural and Fuzzy Approximator Techniques brings together these two different but equally useful approaches to the control of nonlinear systems in order to provide students and practitioners with the background necessary to understand and contribute to this emerging field.
Journal ArticleDOI
Stabilization of a mini rotorcraft with four rotors
TL;DR: In this paper, the authors apply modern nonlinear control theory to a 5-ft diameter main rotor helicopter to improve the performance of the controller and enable the tracking of aggressive trajectories.
MonographDOI
Stable Adaptive Control and Estimation for Nonlinear Systems
TL;DR: Stable Adaptive Control and Estimation for Nonlinear Systems: Neural and Fuzzy Approximator Techniques brings together two different but equally useful approaches to the control of nonlinear systems in order to provide students and practitioners with the background necessary to understand and contribute to this emerging field as mentioned in this paper.
Proceedings ArticleDOI
Intelligent flight controllers for helicopter control
S. Zein-Sabatto,Yixiong Zheng +1 more
TL;DR: The intelligent helicopter flight controller is formed by combining the blade angle PID-controller and the rotor speed fuzzy controller, and simulation results showed that for desired altitude input H/sub d/, the intelligent controller was able to generate proper control signals for both the blade angles control andThe rotor speed control.