Fault tolerant control based on neural network interval type-2 fuzzy sliding mode controller for octorotor UAV
| Autor: | Kamel Kara, Djamel Saigaa, Samir Zeghlache |
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| Rok vydání: | 2016 |
| Předmět: |
0209 industrial biotechnology
General Computer Science Artificial neural network Computer science Fault tolerance 02 engineering and technology Sliding mode control Fuzzy logic control Fuzzy logic Theoretical Computer Science 020901 industrial engineering & automation Control theory Robustness (computer science) 0202 electrical engineering electronic engineering information engineering Six degrees of freedom 020201 artificial intelligence & image processing Actuator |
| Zdroj: | Frontiers of Computer Science. 10:657-672 |
| ISSN: | 2095-2236 2095-2228 |
| Popis: | In this paper, a robust controller for a six degrees of freedom (6 DOF) octorotor helicopter control is proposed in presence of actuator and sensor faults. Neural networks (NN), interval type-2 fuzzy logic control (IT2FLC) approach and sliding mode control (SMC) technique are used to design a controller, named fault tolerant neural network interval type-2 fuzzy sliding mode controller (FTNNIT2FSMC), for each subsystem of the octorotor helicopter. The proposed control scheme allows avoiding difficult modeling, attenuating the chattering effect of the SMC, reducing the number of rules for the fuzzy controller, and guaranteeing the stability and the robustness of the system. The simulation results show that the FTNNIT2FSMC can greatly alleviate the chattering effect, tracking well in presence of actuator and sensor faults. |
| Databáze: | OpenAIRE |
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