A new robust fuzzy method for unmanned flying vehicle control

作     者：Mojtaba Mirzaei Mohammad Eghtesad Mohammad Mahdi Alishahi 

作者机构：Department of Mechanical Engineering Shiraz University 

出 版 物：《Journal of Central South University》 (中南大学学报（英文版）)

年 卷 期：2015年第22卷第6期

页      面：2166-2182页

核心收录：

学科分类：08[工学] 081105[工学-导航、制导与控制] 0811[工学-控制科学与工程] 

主　　题：adaptive fuzzy sliding-mode control unmanned flying vehicle control underactuated system Lyapunov stability high speed underwater vehicle 

摘      要：A new general robust fuzzy approach was presented to control the position and the attitude of unmanned flying vehicles(UFVs). Control of these vehicles was challenging due to their nonlinear underactuated behaviors. The proposed control system combined great advantages of generalized indirect adaptive sliding mode control(IASMC) and fuzzy control for the UFVs. An on-line adaptive tuning algorithm based on Lyapunov function and Barbalat lemma was designed, thus the stability of the system can be guaranteed. The chattering phenomenon in the sliding mode control was reduced and the steady error was also alleviated. The numerical results, for an underactuated quadcopter and a high speed underwater vehicle as case studies, indicate that the presented adaptive design of fuzzy sliding mode controller performs robustly in the presence of sensor noise and external disturbances. In addition, online unknown parameter estimation of the UFVs, such as ground effect and planing force especially in the cases with the Gaussian sensor noise with zero mean and standard deviation of 0.5 m and 0.1 rad and external disturbances with amplitude of 0.1 m/s2 and frequency of 0.2 Hz, is one of the advantages of this method. These estimated parameters are then used in the controller to improve the trajectory tracking performance.