Attitude and Altitude Control of Trirotor UAV by Using Adaptive Hybrid Controller
The paper presents an adaptive hybrid scheme which is based on fuzzy regulation, pole-placement, and tracking (RST) control algorithm for controlling the attitude and altitude of trirotor UAV. The dynamic and kinematic model of Unmanned Aerial Vehicle (UAV) is unstable and nonlinear in nature with 6...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2016-01-01
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| Series: | Journal of Control Science and Engineering |
| Online Access: | http://dx.doi.org/10.1155/2016/6459891 |
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| Summary: | The paper presents an adaptive hybrid scheme which is based on fuzzy regulation, pole-placement, and tracking (RST) control algorithm for controlling the attitude and altitude of trirotor UAV. The dynamic and kinematic model of Unmanned Aerial Vehicle (UAV) is unstable and nonlinear in nature with 6 degrees of freedom (DOF); that is why the stabilization of aerial vehicle is a difficult task. To stabilize the nonlinear behavior of our UAV, an adaptive hybrid controller algorithm is used, in which RST controller tuning is performed by adaptive gains of fuzzy logic controller. Simulated results show that fuzzy based RST controller gives better robustness as compared to the classical RST controller. |
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| ISSN: | 1687-5249 1687-5257 |