| Autor: |
Hossam Eddine Glida, Abdelghani Chelihi, Latifa Abdou, Chouki Sentouh, Gabriele Perozzi |
| Rok vydání: |
2023 |
| Předmět: |
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| Zdroj: |
ISA Transactions. 137:236-247 |
| ISSN: |
0019-0578 |
| DOI: |
10.1016/j.isatra.2022.12.015 |
| Popis: |
This paper proposes a control algorithm for controlling the position and attitude of a coaxial rotor drone without knowing the model dynamics. To overcome the major drawback of model-dependent approaches, an optimal model-free fuzzy controller (OMFFC) based on the estimation of the unknown dynamic function of the system is proposed. A time-delay estimation (TDE) technique is effectively exploited to approximate the unknown dynamic function of the system. The estimation error is then offset using a robust adaptive fuzzy logic compensator. Based on Lyapunov stability arguments, the global asymptotic stability of the coaxial rotor drone system is proven. Moreover, a flower pollination-based algorithm is also proposed to generate the optimal parameters to address the trade-off between optimal tracking performance and the design conditions related to the closed-loop stability requirements. The numerical simulations illustrate how the proposed methodology leads to the best performance, as well as less computational complexity compared to the standard proportional-integral-derivative and time-delay estimation-based controllers in the presence of external disturbances. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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