Abstract
In this study, we develop a rigorous tracking control approach for quadrotor unmanned aerial vehicles (UAVs) with unknown dynamics, unknown physical parameters, and subject to unknown and unpredictable disturbances. In order to better estimate the unknown functions, seven interval type-2-adaptive fuzzy systems (IT2-AFSs) and five adaptive systems are designed. Then, a new IT2 adaptive fuzzy reaching sliding mode system (IT2-AFRSMS) which generates an optimal smooth adaptive fuzzy reaching sliding mode control law (AFRSMCL) using IT2-AFSs is introduced. The AFRSMCL is designed a way that ensures that its gains are efficiently estimated. Thus, the global proposed control law can effectively achieve the predetermined performances of the tracking control while simultaneously avoiding the chattering phenomenon, despite the approximation errors and all disturbances acting on the quadrotor dynamics. The adaptation laws are designed by utilizing the stability analysis of Lyapunov. A simulation example is used to validate the robustness and effectiveness of the proposed method of control. The obtained results confirm the results of the mathematical analysis in guaranteeing the tracking convergence and stability of the closed loop dynamics despite the unknown dynamics, unknown disturbances, and unknown physical parameters of the controlled system.
Highlights
Over the last decade, several robust approaches have been proposed for the control of unmanned aerial vehicles (UAVs), most of which use intelligent and robust control approaches such as fuzzy logic control (FLC), the H∞ technique, sliding mode control (SMC), the backstepping technique, and adaptive control [1,2,3,4,5,6,7,8]
A new IT2-adaptive fuzzy reaching sliding mode system (IT2-AFRSMS) is introduced in order to efficiently estimate the optimal values of the gains of a designed reaching sliding mode control law (RSMCL) online
Using the IT2-fuzzy systems (FSs) approximators defined in (11), the adaptive systems presented in (12) and the adaptation laws expressed in (20), the control law (18) developed for the underactuated quadrotor (8) is stable in the sense of Lyapunov and the asymptotic convergence of the tracking error is established despite unknown dynamics, unknown physical parameters, and all unknown and unpredictable disturbances that affect the control system
Summary
Several robust approaches have been proposed for the control of unmanned aerial vehicles (UAVs), most of which use intelligent and robust control approaches such as fuzzy logic control (FLC), the H∞ technique, sliding mode control (SMC), the backstepping technique, and adaptive control [1,2,3,4,5,6,7,8]. To eliminate or at least decrease the chattering, higher order SMC (HO-SMC) and boundary layer techniques are usually adopted in the literature to guarantee the desired objective of control [11,12,13,14,15] These methods are only employed when the upper bounds of the different kinds of disturbances that influence the control system are known, which constrains their implementation in control systems. A new IT2-adaptive fuzzy reaching sliding mode system (IT2-AFRSMS) is introduced in order to efficiently estimate the optimal values of the gains of a designed reaching sliding mode control law (RSMCL) online The output of this IT2-AFRSMS is an IT2-adaptive fuzzy RSMCL (IT2-AFRSMCL), designed in such a way as to yield an optimal global control law that is capable of dealing with approximation errors and all unknown and unpredictable disturbances that perturb the quadrotor dynamics, and simultaneously coping with the chattering phenomenon.
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