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Adaptive fuzzy multi-surface sliding control of multiple-input and multiple-output autonomous flight systems
journal contribution
posted on 2015-02-26, 00:00 authored by Michael NortonMichael Norton, Sui Yang KhooSui Yang Khoo, Abbas KouzaniAbbas Kouzani, Aleksandar StojcevskiIn this study, we proposed an adaptive fuzzy multi-surface sliding control (AFMSSC) for trajectory tracking of 6 degrees of freedom inertia coupled aerial vehicles with multiple inputs and multiple outputs (MIMO). It is shown that an adaptive fuzzy logic-based function approximator can be used to estimate the system uncertainties and an iterative multi-surface sliding control design can be carried out to control flight. Using AFMSSC on MIMO autonomous flight systems creates confluent control that can account for both matched and mismatched uncertainties, system disturbances and excitation in internal dynamics. It is proved that the AFMSSC system guarantees asymptotic output tracking and ultimate uniform boundedness of the tracking error. Simulation results are presented to validate the analysis.
History
Journal
IET control theory and applicationsVolume
9Issue
4Pagination
587 - 597Publisher
Institution of Engineering and TechnologyLocation
Stevenage, Eng.Publisher DOI
ISSN
1751-8644eISSN
1751-8652Language
engPublication classification
C Journal article; C1 Refereed article in a scholarly journalCopyright notice
2015, Institution of Engineering and TechnologyUsage metrics
Keywords
6-Degrees of freedom inertia coupled aerial vehiclesAdaptive controlAdaptive fuzzy logic-based function approximatorAdaptive fuzzy multisurface sliding controlAerospace controlAFMSSCAFMSSC systemAsymptotic output trackingAutonomous aerial vehiclesConfluent controlControl system analysis and synthesis methodsControl system synthesisFunction approximationFuzzy controlInternal dynamicsInterpolation and function approximation (numerical analysis)Iterative methodsIterative multisurface sliding control designMatched uncertaintiesMIMO autonomous flight systemsMimo systemsMismatched uncertaintiesMobile robotsMultiple input and multiple output autonomous flight systemsMultivariable control systemsSelf-adjusting control systemsSystem disturbancesSystem systemsSystem uncertaintiesTeleroboticsTracking errorTrajectory trackingUltimate uniform boundednessVariable structure systemsScience & TechnologyTechnologyAutomation & Control SystemsEngineering, Electrical & ElectronicInstruments & InstrumentationEngineeringNONAUTONOMOUS SYSTEMSMODE CONTROLTRACKINGMechanical Engineering
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