Single-Input Fuzzy-Sliding Mode Control for an Underactuated Quadrotor Craft

2020 IEEE 2nd International Conference on Artificial Intelligence in Engineering and Technology (IICAIET) Pub Date : 2020-09-26 DOI:10.1109/IICAIET49801.2020.9257830

G. M. Abro, V. Asirvadam, S. Zulkifli

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引用次数: 5

Abstract

This work presents performance analysis between conventional fuzzy-based sliding mode control (F-SMC) and single-dimension fuzzy-sliding mode control (SDF-SMC) for an underactuated quadrotor craft. It has been observed that fuzzy logic control (FLC) can resolve various issues of sliding mode controller (SMC) for the quadrotor, such as reduction in chattering noise or Zeno phenomenon. However, FLC increases required computational power and processing time, which directly rely on the list of rules defined for the FLC. These rules trigger the gains of the SMC. This paper presents an approach to convert the conventional FLC two-dimensional rule-based table into a single-dimension table, leading to a control algorithm referred to as single-input fuzzy-sliding mode control. Numerical simulation work has been implemented on MATLAB-Simulink software, which demonstrates the same control performance of the SDF-SMC as the conventional F-SMC, but with the improvement of reduced computational power and processing time.

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欠驱动四旋翼飞行器的单输入模糊滑模控制

本文对欠驱动四旋翼飞行器的传统模糊滑模控制(F-SMC)和一维模糊滑模控制(SDF-SMC)进行了性能分析。研究发现，模糊逻辑控制(FLC)可以解决滑模控制器(SMC)的各种问题，如降低抖振噪声或芝诺现象。然而，FLC增加了所需的计算能力和处理时间，这直接依赖于为FLC定义的规则列表。这些规则触发了SMC的收益。本文提出了一种将传统的FLC二维规则表转换为一维表的方法，从而得到一种称为单输入模糊滑模控制的控制算法。在MATLAB-Simulink软件上进行了数值仿真，结果表明SDF-SMC的控制性能与传统的F-SMC相同，但计算能力和处理时间有所提高。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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2020 IEEE 2nd International Conference on Artificial Intelligence in Engineering and Technology (IICAIET)

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