Model-Free-Based Single-Dimension Fuzzy SMC Design for Underactuated Quadrotor UAV

Ghulam E Mustafa Abro,Zain Anwar Ali,Vijanth Sagayan Asirvadam,Saiful Azrin B M Zulkifli

doi:10.3390/act10080191

Ghulam E Mustafa Abro, Zain Anwar Ali + Show 2 more

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https://doi.org/10.3390/act10080191

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Abstract

The underactuated quadrotor unmanned aerial vehicle (UAV) is one of the nonlinear systems that have few actuators as compared to the degree of freedom (DOF); thus, it is a strenuous task to stabilize its attitude and positions. Moreover, an induction of unmodelled dynamic factors and uncertainties make it more difficult to control its maneuverability. In this paper, a model-free based single-dimension fuzzy sliding mode control (MFSDF-SMC) is proposed to control the attitude and positions of underactuated quadrotor UAV. The paper discusses the kinematic and dynamic models with unmodelled dynamic factors and unknown external disturbances. These unmodelled factors and disturbances may lead the quadrotor towards failure in tracking specific trajectory and may also generate some serious transient and steady-state issues. Furthermore, to avoid the problem of gimbal lock, the model is amalgamated with hyperbolic function to resolve the singularity issues dully developed due to Newton Euler’s dynamic modeling. The simulation results performed for MFSDF-SMC using MATLAB software R2020a are compared with conventional sliding mode control, fuzzy-based sliding control and single-dimension fuzzy-based sliding mode control without a model-free approach. The design and implementation of the model-free single dimension-based fuzzy sliding mode control (MFSDF-SMC) with an updated Lyapunov stability theorem is presented in this work. It is observed that MFSDF-SMC produces robust trajectory performance therefore, and the manuscript suggests the experimental setup to test the proposed algorithm in a noisy environment keeping the same conditions. The verification of the equipment used and its effective demonstration is also available for the reader within the manuscript.

Highlights

Underactuated quadrotors are a type of unmanned aerial vehicles (UAVs) that have fewer control inputs or actuators than the degree of freedom (DOF)
The fuzzy-logic-based self-tuning of proportional integral derivative (F-proportional integral and derivative (PID)) control is proposed for attitude and position control with the linear dynamic model [4,5]
This paper focuses on acquiring the accurate underactuated quadrotor dynamic model using model-free approach

Summary

Introduction

Underactuated quadrotors are a type of unmanned aerial vehicles (UAVs) that have fewer control inputs or actuators than the degree of freedom (DOF) Due to this reason, they are difficult to stabilize but on the other hand they consume much less power and may exhibit natural dynamic motion if controlled properly. The fuzzy-logic-based self-tuning of proportional integral derivative (F-PID) control is proposed for attitude and position control with the linear dynamic model [4,5]. Researchers have proposed various strategies to acquire more realistic real-world dynamic models such as using a continuous predictor-based identification approach This approach uses the matrix inequality concept for tuning the gains for an underactuated quadrotor [10]. The stability is achieved in all these control algorithms but around the equilibrium conditions using Jacobian method

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Results

Conclusion