利用模糊控制器为无人驾驶飞行器建立高木-菅野(T-S)模糊模型

IF 6 2区 工程技术 Q1 ENGINEERING, MULTIDISCIPLINARY Ain Shams Engineering Journal Pub Date : 2024-08-06 DOI:10.1016/j.asej.2024.102984
Muhammad Shamrooz Aslam , Hazrat Bilal
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引用次数: 0

摘要

无人机技术有可能颠覆和提高我们的生活质量,因为它正在迅速普及并被用于农业、应急响应、边境管制、资产检查和智能交通等各种应用领域。另一方面,人工智能仪器拥有多种输入和输出(I/O)机制,可通过数据估计实现模型稳定。首先,本研究为四旋翼无人飞行器(UAV)建立了一个线性数学模型,其中集成了高木-菅野(Takagi-Sugeno,T-S)模糊逻辑框架。在 T-S 模糊系统的输入和输出之间使用了简明变量进行干扰。其次,要控制具有内在动态不稳定性的四旋翼模型,这些状态空间模型至关重要。模糊控制器的输入是连接到物联网的传感器和蓝牙产生的数据。四旋翼飞行器由六个自由度(6-DOF)组成,其状态空间模型是利用牛顿基本方程推导出来的。该模型的建立对有效控制四旋翼飞行器系统具有重要价值。第三,通过线性矩阵不等式(LMI)和与 γ 性能指标相关的 Lyapunov 函数证明了系统的稳定性。仿真结果表明了我们提出的算法的效率,并进行了额外的计算负担分析。
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Modeling a Takagi-Sugeno (T-S) fuzzy for unmanned aircraft vehicle using fuzzy controller

Drone technology has the potential to disrupt and augment our quality of life, as it is rapidly growing in popularity and being utilized in various applications, such as agriculture, emergency response, border control, asset inspection, and intelligent transportation. On the other side, Artificial intelligent instruments that possess a variety of input and output (I/O) mechanisms are employed to achieve model stabilizing with data estimation. Firstly, in the present study, a linear mathematical model was developed for a quad–copter Unmanned Aerial Vehicle (UAV), in which the Takagi–Sugeno (T–S) Fuzzy logic framework was integrated. The crisp variables have been used to make the interference between the input and output of the T–S fuzzy system. Secondly, to control a quadcopter model with inherent dynamic instability, these state space models are crucial. Inputs of fuzzy controller are data generated by sensors and Bluetooth connected to IoT. The state–space model of the quad copter, which consists of six Degrees Of Freedom (6–DOF), is derived by utilizing fundamental Newtonian equations. This establishment of the model holds significant value in effectively governing the quad copter system. Thirdly, the system stabilizing has been proved by linear matrix inequalities (LMIs) with an associated Lyapunov function with the γ performance index. Simulation results have been presented to demonstrate the efficiency of our proposed algorithm with additional computational burden analysis.

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来源期刊
Ain Shams Engineering Journal
Ain Shams Engineering Journal Engineering-General Engineering
CiteScore
10.80
自引率
13.30%
发文量
441
审稿时长
49 weeks
期刊介绍: in Shams Engineering Journal is an international journal devoted to publication of peer reviewed original high-quality research papers and review papers in both traditional topics and those of emerging science and technology. Areas of both theoretical and fundamental interest as well as those concerning industrial applications, emerging instrumental techniques and those which have some practical application to an aspect of human endeavor, such as the preservation of the environment, health, waste disposal are welcome. The overall focus is on original and rigorous scientific research results which have generic significance. Ain Shams Engineering Journal focuses upon aspects of mechanical engineering, electrical engineering, civil engineering, chemical engineering, petroleum engineering, environmental engineering, architectural and urban planning engineering. Papers in which knowledge from other disciplines is integrated with engineering are especially welcome like nanotechnology, material sciences, and computational methods as well as applied basic sciences: engineering mathematics, physics and chemistry.
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