Altitude control of a quadcopter using interval type-2 fuzzy controller with dynamic footprint of uncertainty

被引:13
|
作者
Sahin, Ihsan [1 ]
Ulu, Cenk [1 ]
机构
[1] Yildiz Tech Univ, Fac Mech Engn, Mechatron Engn Dept, TR-34349 Istanbul, Turkiye
关键词
Quadcopter; Altitude control; Type-2 fuzzy logic controller; Footprint of uncertainty; Robustness; PD controller; LOGIC SYSTEMS; PERFORMANCE; DESIGN; MODEL; PI; TRACKING; ATTITUDE;
D O I
10.1016/j.isatra.2022.08.020
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
Footprint of uncertainty (FOU) characteristics of interval type-2 membership functions (IT2-MFs) play an important role in the performance and robustness of interval type-2 fuzzy controllers (IT2-FCs). In literature, fixed FOU structures are used in almost all IT2-FC designs. In this study, an IT2-FC with dynamic FOU is proposed to provide high performance and robustness in the altitude control of a quadcopter. A proportional-derivative (PD) type FC with Takagi-Sugeno rule structure is used in the design procedure of the proposed controller. Additionally, input variables (error and derivative of error) are defined by using triangular IT2-MFs. To provide a dynamic FOU structure, the height of the lower MF (LMF) of each interval type-2 fuzzy set is defined as a function of the system error. In this way, FOU levels of IT2-MFs are adjusted dynamically since the height value of the LMF directly determines the FOU level of the IT2-MF. To evaluate the effectiveness of the proposed controller, comparison studies are performed under different conditions, including unmodeled measurement noises, an external disturbance, and a system parameter uncertainty. A classical PD, a type-1 fuzzy PD, and an interval type-2 fuzzy PD with fixed FOU controllers are used in the comparisons. The comparison results demonstrate that the proposed interval type-2 fuzzy PD controller with dynamic FOU exhibits better performance and more robustness than the other controllers.(c) 2022 ISA. Published by Elsevier Ltd. All rights reserved.
引用
收藏
页码:86 / 94
页数:9
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