Robust adaptive control of coaxial octorotor UAV using type-1 and interval type-2 fuzzy logic systems
Loading...
Date
2018-06
Authors
Journal Title
Journal ISSN
Volume Title
Publisher
Université de M'sila
Abstract
In this paper, a robust controller for a Six Degrees of Freedom (6 DOF) coaxial octorotor
unmanned aerial vehicle (UAV) control is proposed in presence of the disturbances and
uncertainties. Adaptive control theory based on type-1 and interval type-2 Fuzzy inference
systems is used to design a controller for each subsystem of the octorotor helicopter. The
proposed control scheme allows avoiding the difficult modeling, guaranteeing the stability
and the robustness of the system. Exponential stability of the closed loop is guaranteed by
using Lyapunov theory. The performance and the effectiveness of the proposed controller,
simulation results are confirmed by simulation study.
Description
Keywords
fuzzy system, adaptive control, robust control, coaxial octorotor