Novel Fuzzy PID-Type Iterative Learning Control for Quadrotor UAV
Due to the under-actuated and strong coupling characteristics of quadrotor aircraft, traditional trajectory tracking methods have low control precision, and poor anti-interference ability. A novel fuzzy proportional-interactive-derivative (PID)-type iterative learning control (ILC) was designed for...
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doaj-44461bd99eeb4ef2ba4a50ac6007089a2020-11-25T00:14:40ZengMDPI AGSensors1424-82202018-12-011912410.3390/s19010024s19010024Novel Fuzzy PID-Type Iterative Learning Control for Quadrotor UAVJian Dong0Bin He1College of Electronics and Information Engineering, Tongji University, Shanghai 200000, ChinaCollege of Electronics and Information Engineering, Tongji University, Shanghai 200000, ChinaDue to the under-actuated and strong coupling characteristics of quadrotor aircraft, traditional trajectory tracking methods have low control precision, and poor anti-interference ability. A novel fuzzy proportional-interactive-derivative (PID)-type iterative learning control (ILC) was designed for a quadrotor unmanned aerial vehicle (UAV). The control method combined PID-ILC control and fuzzy control, so it inherited the robustness to disturbances and system model uncertainties of the ILC control. A new control law based on the PID-ILC algorithm was introduced to solve the problem of chattering caused by an external disturbance in the ILC control alone. Fuzzy control was used to set the PID parameters of three learning gain matrices to restrain the influence of uncertain factors on the system and improve the control precision. The system stability with the new design was verified using Lyapunov stability theory. The Gazebo simulation showed that the proposed design method creates effective ILC controllers for quadrotor aircraft.http://www.mdpi.com/1424-8220/19/1/24iterative learning controlproportional-interactive-derivative (PID)fuzzy controlquadrotor unmanned aerial vehicle (UAV)trajectory tracking |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Jian Dong Bin He |
spellingShingle |
Jian Dong Bin He Novel Fuzzy PID-Type Iterative Learning Control for Quadrotor UAV Sensors iterative learning control proportional-interactive-derivative (PID) fuzzy control quadrotor unmanned aerial vehicle (UAV) trajectory tracking |
author_facet |
Jian Dong Bin He |
author_sort |
Jian Dong |
title |
Novel Fuzzy PID-Type Iterative Learning Control for Quadrotor UAV |
title_short |
Novel Fuzzy PID-Type Iterative Learning Control for Quadrotor UAV |
title_full |
Novel Fuzzy PID-Type Iterative Learning Control for Quadrotor UAV |
title_fullStr |
Novel Fuzzy PID-Type Iterative Learning Control for Quadrotor UAV |
title_full_unstemmed |
Novel Fuzzy PID-Type Iterative Learning Control for Quadrotor UAV |
title_sort |
novel fuzzy pid-type iterative learning control for quadrotor uav |
publisher |
MDPI AG |
series |
Sensors |
issn |
1424-8220 |
publishDate |
2018-12-01 |
description |
Due to the under-actuated and strong coupling characteristics of quadrotor aircraft, traditional trajectory tracking methods have low control precision, and poor anti-interference ability. A novel fuzzy proportional-interactive-derivative (PID)-type iterative learning control (ILC) was designed for a quadrotor unmanned aerial vehicle (UAV). The control method combined PID-ILC control and fuzzy control, so it inherited the robustness to disturbances and system model uncertainties of the ILC control. A new control law based on the PID-ILC algorithm was introduced to solve the problem of chattering caused by an external disturbance in the ILC control alone. Fuzzy control was used to set the PID parameters of three learning gain matrices to restrain the influence of uncertain factors on the system and improve the control precision. The system stability with the new design was verified using Lyapunov stability theory. The Gazebo simulation showed that the proposed design method creates effective ILC controllers for quadrotor aircraft. |
topic |
iterative learning control proportional-interactive-derivative (PID) fuzzy control quadrotor unmanned aerial vehicle (UAV) trajectory tracking |
url |
http://www.mdpi.com/1424-8220/19/1/24 |
work_keys_str_mv |
AT jiandong novelfuzzypidtypeiterativelearningcontrolforquadrotoruav AT binhe novelfuzzypidtypeiterativelearningcontrolforquadrotoruav |
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