Abstract
This work presents an innovative hybrid control scheme for a quadrotor unmanned aerial vehicle (UAV) model to improve the disturbances rejection capability and body jerk performance by utilizing an active force control (AFC)-based robust intelligent control system via a simulation study. The proposed intelligent control approach incorporates a proportional-integral-derivative (PID) and an intelligent active force control (IAFC) element yielding a robust PID-IAFC scheme. A detailed mathematical model of a quadrotor system with six degrees of freedom (DOFs) was first derived using the Newton-Euler method taking into consideration the gyroscopic terms, disturbances, aerodynamics, and friction effects. In the derived model, the PID controller was first designed to stabilize the quadrotor model and achieve the required altitude and attitude motions. In addition, different types of external disturbances in the form of sinusoidal waves and repeated impulses (pulsating) were added. An AFC strategy, known as PID-AFC, was designed and incorporated into the PID controller, and was initially tuned heuristically. Then, an artificial intelligence (AI)-based method employing an iterative learning (IL) algorithm was designed and implemented into the AFC (ILAFC) to estimate the control parameters automatically while on-line. Thereafter, the performance of the ILAFC was compared to the AFC with fuzzy logic (FL) which became known as FLAFC. Also, a self-tuning (ST) PID controller was designed and employed based on the FL method to automatically tune the PID gains based on the prescribed operating and loading conditions. Moreover, a comparative study of the system performance was carried out utilizing the PID, PID-AFC, ILAFC, FLAFC, and ST-FPID-AFC schemes to analyze the system characteristics. Furthermore, the effectiveness of the AFC-based intelligent controller was investigated in connection with the body jerk performance in the presence of external disturbances. The simulated results reveal the effectiveness and robustness of the proposed control strategy based on the IAFC technique in improving the disturbance rejection capability and body jerk performance by 17% in the presence of uncertainties and external disturbances.
Highlights
In recent decades, researchers and scientists from diverse sectors have given a great deal of attention to the development of the unmanned aerial vehicle (UAV) industry
Two types of disturbances were introduced into the quadrotor system, namely, a sinusoidal wave and pulsating disturbances to check the efficacy of the proposed control schemes in stabilizing the system and rejecting the applied disturbances where they were activated only on the dynamic system
The results revealed the inability of the PID controller to expel the external disturbances successfully
Summary
Researchers and scientists from diverse sectors have given a great deal of attention to the development of the UAV industry. The main contribution of this work is to propose and implement a new hybrid control structure based on an IAFC strategy to stabilize the rotorcraft system, reject the undesired disturbances and improve the body jerk performance effectively and robustly during trajectory tracking. Various control strategies have been proposed to reject the external disturbances during trajectory tracking of the quadrotor but the novelty of this work is in suggesting the AFC-based controller for its ease of implementation, simplicity, and robustness, along with its ability to merge seamlessly with intelligent control systems. The classic PID-AFC tuned by using only a TEM is the most common approach This has not been applied to all DOFs of the quadrotor, but limited to only one or two DOFs. no research has yet been conducted into investigating the utilization of an IAFC based control scheme and its effectiveness on the body jerk performance.
Sign-in/Register to view highlights & summary Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
