Adaptive Fuzzy Model-free Control For 3d Trajectory Tracking Of Quadrotor
Ref: CISTER-TR-200308 Publication Date: 2020
Adaptive Fuzzy Model-free Control For 3d Trajectory Tracking Of QuadrotorRef: CISTER-TR-200308 Publication Date: 2020
Unmanned Aerial Vehicles (UAVs) quadrotors are small-sized drones characterized mainly by their high maneuverability. However, these intrinsics expose them to external disturbances and uncertainties. As a result, these factors afford for an issue that requires robust control techniques. This paper presents a new adaptive control strategy with rejection ability, 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 for the unknown/unmodeled dynamics, the uncertainties, and the external disturbances ensuring a good robustness level. Moreover, a fuzzy logic system is used to tune online the Proportional-Derivative terms due to its heuristic aspect. These compensation and adaptation mechanisms allow ensuring a good compromise robustness-performance even in the presence of disturbances. Finally, several experiments are provided, using RotorS Gazebo MAV Simulator, to demonstrate the effectiveness of the proposed strategy. In particular, an in-depth comparative study is presented versus two baselines, Fuzzy Logic PID and conventional model-free controller, according to two metrics Integral Square Error (ISE) and Integral Squared Control Input (ISCI). The Fuzzy model-free controller provides superior performance without the time-consuming and tedious tuning task.
Published in International Journal Of Mechatronics And Automation, Inderscience Publishers, Volume 7, Issue 3, pp 134-146.