Nonlinear control design for slightly non-minimum phase systems: application to V/STOL aircraft
Automatica (Journal of IFAC)
Two inertial models of X4-flyers dynamics, motion planning and control
Integrated Computer-Aided Engineering
Fuzzy sliding mode control with chattering elimination for a quadrotor helicopter in vertical flight
HAIS'12 Proceedings of the 7th international conference on Hybrid Artificial Intelligent Systems - Volume Part I
Modeling and Adaptive Tracking Control of a Quadrotor UAV
International Journal of Intelligent Mechatronics and Robotics
Journal of Intelligent and Robotic Systems
Adaptive Nonlinear Stabilization Control for a Quadrotor UAV: Theory, Simulation and Experimentation
Journal of Intelligent and Robotic Systems
| Hi-index | 0.00 |
The work describes an automatically on-line self-tunable fuzzy inference system (STFIS) of a new configuration of mini-flying called XSF (X4 Stationnary Flyer) drone. A fuzzy controller based on on-line optimization of a zero order Takagi-Sugeno fuzzy inference system (FIS) by a back propagation-like algorithm is successfully applied. It is used to minimize a cost function that is made up of a quadratic error term and a weight decay term that prevents an excessive growth of parameters. Thus, we carried out control for the continuation of simple trajectories such as the follow-up of straight lines, and complex (half circle, corner, and helicoidal) by using the STFIS technique. This permits to prove the effectiveness of the proposed control law. Simulation results and a comparison with a static feedback linearization controller (SFL) are presented and discussed. We studied the robustness of the two controllers used in the presence of disturbances. We presented two types of disturbances, the case of a breakdown of an engine as well as a gust of wind.