Backstepping-ANFIS Hybrid Controller Design for Cooperative Quadrotors
This paper offers a novel hybrid control approach for solving the formation problem for a group of cooperative quadrotors unmanned aerial vehicles (UAVs). Two-loop controller layout techniques are presented: one is a backstepping based PID controller as a higher-controller in external-loop to manage...
| Autores: | , , , |
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| Tipo de recurso: | artículo |
| Estado: | Versión publicada |
| Fecha de publicación: | 2023 |
| País: | México |
| Institución: | UNIVERSIDAD NACIONAL AUTÓNOMA DE MÉXICO |
| Repositorio: | Journal of Applied Research and Technology |
| Idioma: | inglés |
| OAI Identifier: | oai:ojs2.localhost:article/1738 |
| Acceso en línea: | https://jart.icat.unam.mx/index.php/jart/article/view/1738 |
| Access Level: | acceso abierto |
| Palabra clave: | Quadrotor; UAV; Backstepping; ANFIS. |
| Sumario: | This paper offers a novel hybrid control approach for solving the formation problem for a group of cooperative quadrotors unmanned aerial vehicles (UAVs). Two-loop controller layout techniques are presented: one is a backstepping based PID controller as a higher-controller in external-loop to manage the proportional position orders and create body-axis rate orders for the internal loop. Second, it is an Adaptive Neuro Fuzzy Inference System (ANFIS) Controller acts as a lower-controller in the internal-loop to generate desired angular rotations for every quadrotor, separately. The introduced hybrid controller is applied to overcome the formation aviation downside that keeps track of the leader-follower approach. The contribution in this paper lays in developing a solution for the formation problem for a group of cooperative UAVs through a double layer hybrid Backstepping-ANFIS controller. A complete model of six-degree of freedom for a group of cooperative UAVs is used in the MATLAB Simulink in order to perform various simulations to validate the hybrid proposed controller. Simulation results for a team of cooperative UAVs show the success of the proposed approach in solving the formation configuration problem for the UAV team members in free and loaded obstacles environment. |
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