Adaptive fuzzy PID control for a quadrotor stabilisation

2017 Workshop on Materials and Engineering in Aeronautics

材料科学;航空航天工程

Cherrat, N.^1 ; Boubertakh, H.^1 ; Arioui, H.^2

Laboratoire d'Automatique de Jijel-LAJ, University MSBY of Jijel, Algeria^1

IBISC-Lab, EA2456, University of Evry Val d'Essonne, France^2

关键词: Adaptation law;    Adaptive fuzzy;    Adaptive gain;    Control gains;    Gradient descent;    Lyapunov approach;    Quad rotors;    System modeling;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/312/1/012002/pdf
DOI  :  10.1088/1757-899X/312/1/012002

来源: IOP

【 摘 要 】

This paper deals with the design of an adaptive fuzzy PID control law for attitude and altitude stabilization of a quadrotor despite the system model uncertainties and disturbances. To this end, a PID control with adaptive gains is used in order to approximate a virtual ideal control previously designed to achieve the predefined objective. Specifically, the control gains are estimated and adjusted by mean of a fuzzy system whose parameters are adjusted online via a gradient descent-based adaptation law. The analysis of the closed-loop system is given by the Lyapunov approach. The simulation results are presented to illustrate the efficiency of the proposed approach.