Trajectory tracking control of a coaxial rotor drone: Time-delay estimation-based optimal model-free fuzzy logic approach

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.