Abstract
This study proposes a robust, accurate and intelligent control for trajectory tracking of a three degree of freedom quadrotor unmanned aerial vehicle (UAV). The controller is based on adaptive-network-based fuzzy inference system (ANFIS) and ant colony optimisation (ACO) algorithm. Intelligent control such as fuzzy logic is a suitable choice for controlling nonlinear systems. The ANFIS controller is used to reproduce the reference trajectory of the quadrotor in 2-D vertical plane. The ACO algorithm provides an automatic adjustment of ANFIS parameters in order to reduce learning errors and improve the quality of the controller. To evaluate the performance of the proposed ANFIS controller tuned by ACO, it is compared with ANFIS and proportional-integral-derivative (PID) controllers. As expected, the hybrid ANFIS-ACO controller gives more satisfactory results than the other methods already developed in the same study.
Published Version
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