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Adaptive Fuzzy Model-free Control For 3d Trajectory Tracking Of Quadrotor

2020Journal article Restricted access
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dc.contributor.authorChekakta, Zakaria
dc.contributor.authorZerikat, Mokhtar
dc.contributor.authorBouzid, Yasser
dc.contributor.authorKoubaa, Anis
dc.date.accessioned2020-10-20T08:18:52Z
dc.date.embargo2119
dc.date.issued2020
dc.description.abstractThis paper presents a novel adaptive control strategy with rejection ability for unmanned aerial vehicles (UAVs), namely fuzzy model-free control (FMFC). It is based on the model-free control (MFC) concept, where the control parameters are tuned online using fuzzy logic. The controller assumes an ultra-local model that can compensate unknown/unmodelled dynamics, uncertainties and external disturbances, ensuring a good robustness level. Moreover, the fuzzy logic system is used to tune online the proportional-derivative terms due to its heuristic aspect. These compensation and adaptation mechanisms allow ensuring good compromise robustness-performance even in the presence of disturbances. Several experiments, using RotorS Gazebo micro aerial vehicle (MAV) simulator, are provided to demonstrate the effectiveness of the proposed controller compared with other techniques. The fuzzy model-free controller shows superior performance without the time-consuming and tedious tuning task.pt_PT
dc.description.versioninfo:eu-repo/semantics/publishedVersionpt_PT
dc.identifier.doi10.1504/IJMA.2020.109058pt_PT
dc.identifier.issn2045-1067
dc.identifier.urihttp://hdl.handle.net/10400.22/16329
dc.language.isoengpt_PT
dc.peerreviewedyespt_PT
dc.publisherInderscience Publisherspt_PT
dc.relation.publisherversionhttps://www.inderscience.com/info/inarticle.php?artid=109058pt_PT
dc.subjectMicro aerial vehiclept_PT
dc.subjectMAVpt_PT
dc.subjectModel-free controlpt_PT
dc.subjectMFCpt_PT
dc.subjectFuzzy logicpt_PT
dc.subjectAdaptive controlpt_PT
dc.subjectRobust controlpt_PT
dc.titleAdaptive Fuzzy Model-free Control For 3d Trajectory Tracking Of Quadrotorpt_PT
dc.typejournal article
dspace.entity.typePublication
oaire.citation.endPage146pt_PT
oaire.citation.issue3pt_PT
oaire.citation.startPage134pt_PT
oaire.citation.titleInternational Journal of Mechatronics and Automationpt_PT
oaire.citation.volume7pt_PT
person.familyNameKoubaa
person.givenNameAnis
person.identifier989131
person.identifier.ciencia-idCA19-2399-D94A
person.identifier.orcid0000-0003-3787-7423
person.identifier.scopus-author-id15923354900
rcaap.rightsclosedAccesspt_PT
rcaap.typearticlept_PT
relation.isAuthorOfPublication0337d7df-5f77-46a4-8269-83d14bd5ea6b
relation.isAuthorOfPublication.latestForDiscovery0337d7df-5f77-46a4-8269-83d14bd5ea6b

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