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A hybrid optimal backstepping and adaptive fuzzy control for autonomous quadrotor helicopter with time-varying disturbance

In this paper, a hybrid control system called as backstepping adaptive fuzzy control system, which integrates nominal and compensation controller is developed for autonomous quadrotor helicopter with inherent time-varying disturbance. In this hybrid control system, the nominal controller based on ba...

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Main Authors: Mohd. Basri, Mohd. Ariffanan, Husain, Abdul Rashid, Danapalasingam, Kumeresan A.
Format: Article
Published: SAGE Publications Ltd 2015
Subjects:
TK Electrical engineering. Electronics Nuclear engineering
Online Access:http://eprints.utm.my/id/eprint/55476/
http://dx.doi.org/10.1177/0954410015569583
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spelling my.utm.554762017-02-15T04:52:12Z http://eprints.utm.my/id/eprint/55476/ A hybrid optimal backstepping and adaptive fuzzy control for autonomous quadrotor helicopter with time-varying disturbance Mohd. Basri, Mohd. Ariffanan Husain, Abdul Rashid Danapalasingam, Kumeresan A. TK Electrical engineering. Electronics Nuclear engineering In this paper, a hybrid control system called as backstepping adaptive fuzzy control system, which integrates nominal and compensation controller is developed for autonomous quadrotor helicopter with inherent time-varying disturbance. In this hybrid control system, the nominal controller based on backstepping technique is the main controller, and the compensation controller containing a fuzzy control approach is used to eliminate the effect of uncertainties caused by external disturbance. In addition, in order to relax the requirement of prior knowledge on the bound of external disturbance, an online adaptation law is derived. Asymptotical stability of the closed-loop control system is analytically proven via the Lyapunov theorem. For the problem of determining the backstepping control parameters, particle swarm optimization algorithm has been employed. Finally, the designed controller is experimentally evaluated on a quadrotor simulation environment to demonstrate the effectiveness and merits of the theoretical development. SAGE Publications Ltd 2015-10 Article PeerReviewed Mohd. Basri, Mohd. Ariffanan and Husain, Abdul Rashid and Danapalasingam, Kumeresan A. (2015) A hybrid optimal backstepping and adaptive fuzzy control for autonomous quadrotor helicopter with time-varying disturbance. Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering, 229 (12). pp. 2178-2195. ISSN 0954-4100 http://dx.doi.org/10.1177/0954410015569583 DOI:10.1177/0954410015569583
institution Universiti Teknologi Malaysia
building UTM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknologi Malaysia
content_source UTM Institutional Repository
url_provider http://eprints.utm.my/
topic TK Electrical engineering. Electronics Nuclear engineering
spellingShingle TK Electrical engineering. Electronics Nuclear engineering
Mohd. Basri, Mohd. Ariffanan
Husain, Abdul Rashid
Danapalasingam, Kumeresan A.
A hybrid optimal backstepping and adaptive fuzzy control for autonomous quadrotor helicopter with time-varying disturbance
description In this paper, a hybrid control system called as backstepping adaptive fuzzy control system, which integrates nominal and compensation controller is developed for autonomous quadrotor helicopter with inherent time-varying disturbance. In this hybrid control system, the nominal controller based on backstepping technique is the main controller, and the compensation controller containing a fuzzy control approach is used to eliminate the effect of uncertainties caused by external disturbance. In addition, in order to relax the requirement of prior knowledge on the bound of external disturbance, an online adaptation law is derived. Asymptotical stability of the closed-loop control system is analytically proven via the Lyapunov theorem. For the problem of determining the backstepping control parameters, particle swarm optimization algorithm has been employed. Finally, the designed controller is experimentally evaluated on a quadrotor simulation environment to demonstrate the effectiveness and merits of the theoretical development.
format Article
author Mohd. Basri, Mohd. Ariffanan
Husain, Abdul Rashid
Danapalasingam, Kumeresan A.
author_facet Mohd. Basri, Mohd. Ariffanan
Husain, Abdul Rashid
Danapalasingam, Kumeresan A.
author_sort Mohd. Basri, Mohd. Ariffanan
title A hybrid optimal backstepping and adaptive fuzzy control for autonomous quadrotor helicopter with time-varying disturbance
title_short A hybrid optimal backstepping and adaptive fuzzy control for autonomous quadrotor helicopter with time-varying disturbance
title_full A hybrid optimal backstepping and adaptive fuzzy control for autonomous quadrotor helicopter with time-varying disturbance
title_fullStr A hybrid optimal backstepping and adaptive fuzzy control for autonomous quadrotor helicopter with time-varying disturbance
title_full_unstemmed A hybrid optimal backstepping and adaptive fuzzy control for autonomous quadrotor helicopter with time-varying disturbance
title_sort hybrid optimal backstepping and adaptive fuzzy control for autonomous quadrotor helicopter with time-varying disturbance
publisher SAGE Publications Ltd
publishDate 2015
url http://eprints.utm.my/id/eprint/55476/
http://dx.doi.org/10.1177/0954410015569583
_version_ 1643653808369172480
score 13.211869

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