NDLI: Modeling and Neuro-Fuzzy adaptive attitude control for Eight-Rotor MAV

Content Provider	Springer Nature Link
Author	Chen, Xiangjian Li, Di Bai, Yue Xu, Zhijun
Copyright Year	2011
Abstract	This paper focuses on modeling and intelligent control of the new Eight-Rotor MAV which is used to solve the problem of low coefficient proportion between lift and gravity for Quadrotor MAV. The dynamical and kinematical modeling for the Eight-Rotor MAV was developed which has never been proposed before. Based on the achieved dynamic modeling, two types of controller were presented. One type, a PID controller is derived in a conventional way with simplified dynamics and turns out to be quite sensitive to sensor noise as well as external perturbation. The second type controller is the Neuro-Fuzzy adaptive controller which is composed of two type-II fuzzy neural networks (TIIFNNs) and one PD controller: The PD controller is adopted to control the attitude, one of the TIIFNNs is designed to learn the inverse model of Eight-Rotor MAV on-line, the other one is the copy of the former one to compensate for model errors and external disturbances, both structure and parameters of T-IIFNNs are tuned on-line at the same time, and then the stability of the Eight-Rotor MAV closed-loop control system is proved using Lyapunov stability theory. Finally, the validity of the proposed control method has been verified through real-time experiments. The experimental results show that the performance of Neuro-Fuzzy adaptive controller performs very well under sensor noise and external disturbances, and has more superiority than traditional PID controller.
Starting Page	1154
Ending Page	1163
Page Count	10
File Format	PDF
ISSN	15986446
Journal	International Journal of Control, Automation and Systems
Volume Number	9
Issue Number	6
e-ISSN	20054092
Language	English
Publisher	Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers
Publisher Date	2011-12-02
Publisher Place	Heidelberg
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Dynamical modeling of eight-rotor MAV Lyapunov stability theorem neuro-fuzzy adaptive controller PID Type-II fuzzy nerual network Control, Robotics, Mechatronics
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications

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