In this paper, a robust controller for attitude stabilization of a small quadrotor helicopter is developed. The TS (Takagi-Sugeno) fuzzy model approach and the robust control are combined to produce the proposed algorithm. Besides, disturbances and parametric uncertainties are considered. First, the nonlinear model of the vehicle is linearized around several operating points to obtain the representation of a TS fuzzy model, which represents the nonlinearity of the system dynamics. Then, a robust fuzzy controller is synthesized which guarantees desired control performances. The given controller is designed using numerical tools such as linear matrix inequalities (LMI). Finally, simulation results and real-time experiments are presented to validate the performance of the proposed scheme to robustly stabilize the quadrotor dynamics at the desired reference.
AlsafadiLAChulinNAMironovaIV (2019) Synthesis of fuzzy controller based on simple PID controller. Procedia Computer Science150(1): 28–38.
2.
AsemaniMHMajdVJ (2013) A robust observer-based controller design for uncertain TS fuzzy systems with unknown premise variables via LMI. Fuzzy Sets and Systems212(1): 21–40.
3.
AustinR (2010) Unmanned Aircraft Systems: UAVs Design, Development and Seployment. UK, Wiley.
4.
BabuskaRVerbruggenHB (1996) An overview of fuzzy modeling for control. Control Engineering Practice4(11): 1593–1599.
5.
BouabdallahSSiegwartR (2005) Backstepping and sliding-mode techniques applied to an indoor micro quadrotor. In: IEEE International Conference on Robotics and Automation, Barcelona, Spain, 18–22 April 2005, pp. 2247–2252. USA: IEEE.
6.
BouadiHBouchouchaMTadjineM (2007) Sliding mode control based on backstepping approach for an UAV type-quadrotor. International Journal of Mechanical, Aerospace, Industrial and Mechatronics Engineering1(2): 118–173.
7.
BouzidYSiguerdidjaneHBestaouiY (2017) Nonlinear internal model control applied to VTOL multi-rotors UAV. Mechatronics47(11): 49–66.
8.
CastilloPDzulALozanoR (2004) Real time stabilization and tracking of a four-rotor mini rotorcraft. IEEE Transactions on Control Systems Technology, 12(4): 510–516.
9.
ChenFJiangRZhangKJiangBTaoG (2016), Robust backstepping sliding mode control and observer based fault estimation for a quadrotor UAV. IEEE Transactions on Industrial Electronics63(8): 5044–5056.
10.
DerafaLMadaniTBenallegueA (2006) Dynamic modelling and experimental identification of four rotors helicopter Parameters. In: IEEE International Conference on Industrial Technology, Mumbai, India, 15–17 December 2006, pp. 1834–1839. USA: IEEE.
11.
DomingosDCamargoGGomideF (2016) Autonomous fuzzy control and navigation of quadcopters, IFAC-PapersOnLine, 49(5): 73–78.
12.
ErkolHO (2018) Attitude controller optimization of four-rotor unmanned air vehicle. International Journal of Micro Air Vehicles10(1): 42–49.
13.
GarcíaLRDzulAELozanoRPégardC (2013) Quad Rotorcraft Control, Vision Based Hovering and Navigation. London: Springer Verlag.
14.
GuerreroJFTellezJJDurandSMarchandNAlvarezJUGonzalezVR (2014) Attitude stabilization of a quadrotor by means of event-triggered nonlinear control. Journal of Intelligent and Robotic Systems73(1–4): 123–135.
15.
GupteSMohandasPITConradJM (2012) A survey of quadrotor unmanned aerial vehicles. In: 2012 Southeastcon (ed. WuD), Orlando FL, USA, 15–18 March 2012, pp. 1–6. USA: IEEE.
16.
HassanalianMAbdelkefiA (2017) Classifications, applications, and design challenges of drones: A review. Progress in Aerospace Sciences91(1): 99–131.
17.
Izaguirre-EspinozaCMuñoz-VázquezAJSánchez-OrtaAParra-VegaVCastilloP (2016) Attitude control of quadrotors based on fractional sliding modes: Theory and experiments. IET Control Theory and Applications10(7): 825–832.
LaraDRomeroGSanchezALozanoRGuerreroA (2010) Robustness margin for attitude control of a four-rotor mini-rotorcraft: Case of study. Mechatronics20(1): 143–152.
20.
LeeKRJeungETParkHB (2001) Robust fuzzy control for uncertain nonlinear systems via state feedback: An LMI approach. Fuzzy Sets and Systems120(1): 123–134.
21.
LiLSunLJinJ (2015) Survey of advances in control algorithms of quadrotor unmanned aerial vehicle. In: The 16th International Conference on Communication Technology (ed. LiJ), Hangzhou, China, 18–20 October 2015, pp. 107–111. USA: IEEE.
22.
LiuHXiJZhongY (2017) Robust attitude stabilization for nonlinear quadrotor systems with uncertainties and delays. IEEE Transactions on Industrial Electronics64(7): 5585–5594.
23.
LotufoMAColangeloLPerez-MontenegroCCanutoENovaraC (2019), UAV quadrotor attitude control: An ADRC-EMC combined approach. Control Engineering Practice84(1): 13–22.
24.
MahmoodabadiMJRezaee BabakN (2020) Fuzzy adaptive robust proportional integral derivative control optimized by the multi-objective grasshopper optimization algorithm for a nonlinear quadrotor. Journal of Vibration and Control26(17–18): 1574–1589.
25.
MohammadiMShahriAM (2013) Adaptive nonlinear stabilization control for a quadrotor UAV: Theory, simulation and experimentation. Journal of Intelligent and Robotic Systems72(1): 105–122.
26.
MusialM (2008) System Architecture of Small Autonomous UAVs. Germany: VDM Verlag.
27.
NicotraMMGaroneENaldiRMarconiL (2014) Nested saturation control of an UAV carrying a suspended load. In: IEEE American Control Conference, Portland OR, USA, 4–6 June 2014, pp. 3585–3590. USA: IEEE.
28.
OudghiriMChadliMElhajjajiA (2007) One-step procedure for robust output fuzzy control. In: The 15th Mediterranean Conference on Control and Automation, Athens, Greece27–29 June 2007, pp. 43–48. IEEE.
29.
PanomrattanarugBHiguchiKMora-CaminoF (2013) Attitude control of a quadrotor aircraft using LQR state feedback controller with full order state observer. In: The Society of Instrument and Control Engineer Conference, Nagoya, Japan, 14–17 September 2013, pp. 2041–2046. USA: IEEE.
30.
PazookiMMazinanAH (2018) Hybrid fuzzy-based sliding-mode control approach, optimized by genetic algorithm for quadrotor unmanned aerial vehicles. Complex and Intelligent Systems4(1): 79–93.
31.
PoundsPMahonyRCorkeP (2010) Modelling and control of a large quadrotor robot. Control Engineering Practice18(7): 691–699.
32.
RabhiAChadliMPegardC (2011) Robust fuzzy control for stabilization of a quadrotor. In: The 15th International Conference on Advanced Robotics, Tallinn, Estonia, 20–23 June 2011, pp. 471–475. USA: IEEE.
33.
RaffoGVOrtegaMGRubioFR (2010) An integral predictive nonlinear control structure for a quadrotor helicopter. Automatica46(1): 29–39.
34.
RinaldiFGargioliAQuagliottiF (2014) PID and LQ regulation of a multirotor attitude: Mathematical modelling, simulations and experimental results. Journal of Intelligent and Robot Systems73(1): 33–50.
35.
SanchezAFantoniILozanoRMoralesJ (2005) Observer-based control of a PVTOL aircraft. In: The 16th IFAC World Congress, Prague, Czech Republic, 3–8 July 2005, pp. 121–126. IFAC.
36.
SheikhpourSShourakiSB (2013) A model based fuzzy controller using the parallel distributed compensation method for quadrotor attitude stabilization. In: The 21st Iranian Conference on Electrical Engineering, Mashhad, Iran, 14–16 May 2013, pp.1–6. USA: IEEE.
37.
StevensBLLewisFL (2003) Aircraft Control and Simulation. John Wiley and Sons, Hoboken, New Jersey.
38.
TakagiTSugenoM (1985) Fuzzy identification of systems and its applications to modeling and control. IEEE Transactions on Systems Man and Cybernetics SMC-15(1): 116–132.
39.
TanakaKIkedaTWangHO (1998) Fuzzy regulators and fuzzy observers: Relaxed stability conditions and LMI-based designs. IEEE Transactions on Fuzzy Systems6(2): 250–256.
40.
TayebiAMcGilvrayS. (2004) Attitude stabilization of a four-rotor aerial robot. In: The 43th Conference on Decision and Control (ed. CassandrasC), Atlantis Paradise Island, Bahamas, 14–17 December 2004, pp. 1216–1221. USA: IEEE.
41.
TorresFRabhiALaraD, et al. (2016) Fuzzy state feedback for attitude stabilization of a quadrotor. International Journal of Advanced Robotic Systems12(2): 1–8.
42.
WangHLiZXiongHNianX (2019) Robust attitude tracking control of a quadrotor UAV on SO(3) via variation based linearization and interval matrix approach. ISA Transactions87(1): 10–16.
43.
WoodsALaH (2018) A novel potential field controller for use on aerial robots. IEEE Transactions on Systems, Man, and Cybernetics Systems48(7): 1–12.
44.
XuYTongCLiH (2015) Flight control of a quadrotor under model uncertainties. International Journal of Micro Air Vehicles7(1): 29–39.
45.
ZhangBZhouSLiT (2007) A new approach to robust and non-fragile control for uncertain fuzzy systems. Information Sciences177(22): 5118–5133.
46.
ZhangJRenZDengC, et al. (2019) Adaptive fuzzy global sliding mode control for trajectory tracking of quadrotor UAVs. Nonlinear Dynamics97(1): 1–19.
47.
ZhaoBXianBZhangYZhangX (2015) Nonlinear robust sliding mode control of a quadrotor unmanned aerial vehicle based on immersion and invariance method. International Journal of Robust and Nonlinear Control25(1): 3714–3731.
48.
ZhengEHXiongJJLuoJL (2014) Second order sliding mode control for a quadrotor UAV. ISA Transactions53(1): 1350–1356.
