Robust Full Tracking Control Design of Disturbed Quadrotor UAVs with Unknown Dynamics
In this study, we develop a rigorous tracking control approach for quadrotor unmanned aerial vehicles (UAVs) with unknown dynamics, unknown physical parameters, and subject to unknown and unpredictable disturbances. In order to better estimate the unknown functions, seven interval type-2-adaptive fu...
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doaj-81f2d2dbe011403990d142ca8c2d33522020-11-25T01:12:17ZengMDPI AGAerospace2226-43102018-10-015411510.3390/aerospace5040115aerospace5040115Robust Full Tracking Control Design of Disturbed Quadrotor UAVs with Unknown DynamicsNabil Nafia0Abdeljalil El Kari1Hassan Ayad2Mostafa Mjahed3Laboratory of Electric Systems and Telecommunications (LSET), Faculty of Sciences and Techniques, University Cadi Ayyad, Guéliz Marrakech 40000, MoroccoLaboratory of Electric Systems and Telecommunications (LSET), Faculty of Sciences and Techniques, University Cadi Ayyad, Guéliz Marrakech 40000, MoroccoLaboratory of Electric Systems and Telecommunications (LSET), Faculty of Sciences and Techniques, University Cadi Ayyad, Guéliz Marrakech 40000, MoroccoMathematics and Systems Department, Royal School of Aeronautics, Marrakech 40160, MoroccoIn this study, we develop a rigorous tracking control approach for quadrotor unmanned aerial vehicles (UAVs) with unknown dynamics, unknown physical parameters, and subject to unknown and unpredictable disturbances. In order to better estimate the unknown functions, seven interval type-2-adaptive fuzzy systems (IT2-AFSs) and five adaptive systems are designed. Then, a new IT2 adaptive fuzzy reaching sliding mode system (IT2-AFRSMS) which generates an optimal smooth adaptive fuzzy reaching sliding mode control law (AFRSMCL) using IT2-AFSs is introduced. The AFRSMCL is designed a way that ensures that its gains are efficiently estimated. Thus, the global proposed control law can effectively achieve the predetermined performances of the tracking control while simultaneously avoiding the chattering phenomenon, despite the approximation errors and all disturbances acting on the quadrotor dynamics. The adaptation laws are designed by utilizing the stability analysis of Lyapunov. A simulation example is used to validate the robustness and effectiveness of the proposed method of control. The obtained results confirm the results of the mathematical analysis in guaranteeing the tracking convergence and stability of the closed loop dynamics despite the unknown dynamics, unknown disturbances, and unknown physical parameters of the controlled system.https://www.mdpi.com/2226-4310/5/4/115quadrotor UAVtype-2 fuzzy systemstracking controladaptive controlsliding mode control |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Nabil Nafia Abdeljalil El Kari Hassan Ayad Mostafa Mjahed |
spellingShingle |
Nabil Nafia Abdeljalil El Kari Hassan Ayad Mostafa Mjahed Robust Full Tracking Control Design of Disturbed Quadrotor UAVs with Unknown Dynamics Aerospace quadrotor UAV type-2 fuzzy systems tracking control adaptive control sliding mode control |
author_facet |
Nabil Nafia Abdeljalil El Kari Hassan Ayad Mostafa Mjahed |
author_sort |
Nabil Nafia |
title |
Robust Full Tracking Control Design of Disturbed Quadrotor UAVs with Unknown Dynamics |
title_short |
Robust Full Tracking Control Design of Disturbed Quadrotor UAVs with Unknown Dynamics |
title_full |
Robust Full Tracking Control Design of Disturbed Quadrotor UAVs with Unknown Dynamics |
title_fullStr |
Robust Full Tracking Control Design of Disturbed Quadrotor UAVs with Unknown Dynamics |
title_full_unstemmed |
Robust Full Tracking Control Design of Disturbed Quadrotor UAVs with Unknown Dynamics |
title_sort |
robust full tracking control design of disturbed quadrotor uavs with unknown dynamics |
publisher |
MDPI AG |
series |
Aerospace |
issn |
2226-4310 |
publishDate |
2018-10-01 |
description |
In this study, we develop a rigorous tracking control approach for quadrotor unmanned aerial vehicles (UAVs) with unknown dynamics, unknown physical parameters, and subject to unknown and unpredictable disturbances. In order to better estimate the unknown functions, seven interval type-2-adaptive fuzzy systems (IT2-AFSs) and five adaptive systems are designed. Then, a new IT2 adaptive fuzzy reaching sliding mode system (IT2-AFRSMS) which generates an optimal smooth adaptive fuzzy reaching sliding mode control law (AFRSMCL) using IT2-AFSs is introduced. The AFRSMCL is designed a way that ensures that its gains are efficiently estimated. Thus, the global proposed control law can effectively achieve the predetermined performances of the tracking control while simultaneously avoiding the chattering phenomenon, despite the approximation errors and all disturbances acting on the quadrotor dynamics. The adaptation laws are designed by utilizing the stability analysis of Lyapunov. A simulation example is used to validate the robustness and effectiveness of the proposed method of control. The obtained results confirm the results of the mathematical analysis in guaranteeing the tracking convergence and stability of the closed loop dynamics despite the unknown dynamics, unknown disturbances, and unknown physical parameters of the controlled system. |
topic |
quadrotor UAV type-2 fuzzy systems tracking control adaptive control sliding mode control |
url |
https://www.mdpi.com/2226-4310/5/4/115 |
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