中国科学院长春光学精密机械与物理研究所

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	Robust control of quadrotor MAV using self-organizing interval type-II fuzzy neural networks (SOIT-IIFNNs) controller
	Chen X.; Li D.; Xu Z.; Bai Y.
	2011
发表期刊	International Journal of Intelligent Computing and Cybernetics
ISSN	1756378X
卷号	4期号:3页码:397-412
摘要	Purpose: Quadrotor micro aerial vehicle (MAV) is nonlinear and under actuated plant, and it is difficult to obtain an accurate mathematical model for quadrotor MAV due to uncertainties. The purpose of this paper is to propose one robust control strategy for quadrotor MAV to accommodate system uncertainties, variations, and external disturbances. Design/methodology/approach: The robust control strategy is composed of two self-organizing interval type-II fuzzy neural networks (SOIT-IIFNNs) and one PD controller: the PD controller is adopted to control the attitude and position; one of the SOIT-IIFNNs is designed to learn the inverse model of quadrotor MAV online; the other SOIT-IIFNNs is the copy of the former one to compensate for model errors, system uncertainties and external disturbances, both structure and parameters of SOIT-IIFNNs are tuned online at the same time, and then the stability of the resulting quadrotor MAV closed-loop control system is proved using Lyapunov stability theory. Findings: The validity of the proposed control method has been verified through real-time experiments. The experimental results show that the performance of SOIT-IIFNNs is significantly improved compared with Backstepping-based controller. Practical implications: This approach has been used in quadrotor MAV, the controller works well, and it could guarantee quadrotor MAV control system with good performances under uncertainties, variations, and external disturbances. Originality/value: The proposed SOIT-IIFNNs controller is interesting for the design of an intelligent control scheme. The main contributions of this paper are: the overall closed-loop control system is globally stable, demonstrated by Lyapunov stable theory; the tracking error can be asymptotically attenuated to a desired small level around zero by appropriate chosen parameters and learning rates; and the quadrotor MAV control system based on SOIT-IIFNNs controller can achieve favorable tracking performance. Emerald Group Publishing Limited.
收录类别	EI
文献类型	期刊论文
条目标识符	http://ir.ciomp.ac.cn/handle/181722/34589
专题	中科院长春光机所知识产出
推荐引用方式 GB/T 7714	Chen X.,Li D.,Xu Z.,et al. Robust control of quadrotor MAV using self-organizing interval type-II fuzzy neural networks (SOIT-IIFNNs) controller[J]. International Journal of Intelligent Computing and Cybernetics,2011,4(3):397-412.
APA	Chen X.,Li D.,Xu Z.,&Bai Y..(2011).Robust control of quadrotor MAV using self-organizing interval type-II fuzzy neural networks (SOIT-IIFNNs) controller.International Journal of Intelligent Computing and Cybernetics,4(3),397-412.
MLA	Chen X.,et al."Robust control of quadrotor MAV using self-organizing interval type-II fuzzy neural networks (SOIT-IIFNNs) controller".International Journal of Intelligent Computing and Cybernetics 4.3(2011):397-412.

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