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Trajectory tracking control of a coaxial rotor drone: Time-delay estimation-based optimal model-free fuzzy logic approach.
- Source :
- ISA Transactions; Jun2023, Vol. 137, p236-247, 12p
- Publication Year :
- 2023
-
Abstract
- 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. [ABSTRACT FROM AUTHOR]
Details
- Language :
- English
- ISSN :
- 00190578
- Volume :
- 137
- Database :
- Supplemental Index
- Journal :
- ISA Transactions
- Publication Type :
- Academic Journal
- Accession number :
- 164019150
- Full Text :
- https://doi.org/10.1016/j.isatra.2022.12.015