GSA-based optimal backstepping controller with a fuzzy compensator for robust control of an autonomous quadrotor UAV

2015 ◽  
Vol 87 (5) ◽  
pp. 493-505 ◽  
Author(s):  
Mohd Ariffanan Mohd Basri ◽  
Abdul Rashid Husain ◽  
Kumeresan A. Danapalasingam
Keyword(s):  
Robust Control ◽  
Quadrotor Uav ◽  
Fuzzy Compensator ◽  
Backstepping Controller

Research of Robust Flight Control Algorithm for Quadrotor UAV

2014 ◽  
Vol 701-702 ◽  
pp. 743-747 ◽  
Author(s):  
Yun Dou Hu ◽  
Feng Fa Yue ◽  
Dan Dan Hu ◽  
Qing Ji Gao
Keyword(s):  
Robust Control ◽  
Flight Control ◽  
Flight Test ◽  
Loop Control ◽  
Control Approach ◽  
Quadrotor Uav ◽  
Nonlinear Control Problems ◽  
Backstepping Controller ◽  
Robust Flight Control ◽  
Nested Loop

For quadrotor unmanned air vehicles (UAVs) nonlinear control problems under disturbance conditions, a nested loop control approach is presented to realize robust control. The robust control approach is proposed to solve the stabilization and navigation problems in the quadrotor. The robust control strategy is composed of two controllers. A nonlinear backstepping controller is designed for the inner loop to stabilize the attitude angle. A PID controller based on BP neural network is designed for the outer loop in order to generate the reference path for the inner loop. Numerous simulations and flight test experiments have been made to study the performance of controller based on the independently developed quadrotor UAV. The results illustrate that the proposed controller has good stability, maneuverability and robustness.

scholarly journals Optimal backstepping control of quadrotor UAV using gravitational search optimization algorithm

2020 ◽  
Vol 9 (5) ◽  
pp. 1819-1826
Author(s):  
M. A. Basri ◽  
A. Noordin
Keyword(s):  
High Performance ◽  
Search Algorithm ◽  
Fitness Function ◽  
Gravitational Search Algorithm ◽  
Absolute Error ◽  
Difficult Problem ◽  
Quadrotor Uav ◽  
Search Optimization ◽  
Backstepping Controller ◽  
Gravitational Search

Quadrotor unmanned aerial vehicle (UAV) has superior characteristics such as ability to take off and land vertically, to hover in a stable air condition and to perform fast maneuvers. However, developing a high-performance quadrotor UAV controller is a difficult problem as quadrotor is an unstable and underactuated nonlinear system. The effort in this article focuses on designing and optimizing an autonomous quadrotor UAV controller. First, the aerial vehicle's dynamic model is presented. Then it is suggested an optimal backstepping controller (OBC). Traditionally, backstepping controller (BC) parameters are often selected arbitrarily. The gravitational search algorithm (GSA) is used here to determine the BC parameter optimum values. In the algorithm, the control parameters are calculated using an integral absolute error to minimize the fitness function. As the control law is based on the theorem of Lyapunov, the asymptotic stability of the scheme can be ensured. Finally, several simulation studies are conducted to show the efficacy of the suggested OBC.

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