Backstepping-ANFIS hybrid controller design for cooperative quadrotors
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| Format: | Artículo científico |
| Sprache: | en |
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Universidad Nacional Autónoma de México
2023
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| _version_ | 1876437842729631744 |
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| author | Mohamed Mahfouz |
| author_facet | Mohamed Mahfouz |
| contents | Backstepping-ANFIS hybrid controller design for cooperative quadrotors Mohamed Mahfouz Ahmed T. Hafez Mahmoud M. Ashry Gamal Elnashar Ingeniería UAV ANFIS Quadrotor backstepping 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 main contribution in this work lays in solving the formation problem for a team of cooperative quadrotors through hybrid backstepping and ANFIS controller in a free and loaded obstacle environment. A complete model of six-degree of freedom for a group of cooperative UAVs is used in the MATLAB Simulink 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. 2023 artículo científico 1665-6423 https://www.redalyc.org/articulo.oa?id=47480097013 https://www.redalyc.org/journal/474/47480097013/ https://www.redalyc.org/journal/474/47480097013/html/ https://www.redalyc.org/journal/474/47480097013/47480097013.epub https://www.redalyc.org/journal/474/47480097013/movil 10.22201/icat.24486736e.2023.21.4.1738 en http://www.redalyc.org/revista.oa?id=474 Journal of Applied Research and Technology application/pdf Universidad Nacional Autónoma de México Journal of Applied Research and Technology (México) Num.4 Vol.21 |
| format | Artículo científico |
| id | redalyc_47480097013 |
| institution | Redalyc |
| language | en |
| publishDate | 2023 |
| publisher | Universidad Nacional Autónoma de México |
| spellingShingle | Backstepping-ANFIS hybrid controller design for cooperative quadrotors Mohamed Mahfouz Ingeniería UAV ANFIS Quadrotor backstepping Backstepping-ANFIS hybrid controller design for cooperative quadrotors Mohamed Mahfouz Ahmed T. Hafez Mahmoud M. Ashry Gamal Elnashar Ingeniería UAV ANFIS Quadrotor backstepping 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 main contribution in this work lays in solving the formation problem for a team of cooperative quadrotors through hybrid backstepping and ANFIS controller in a free and loaded obstacle environment. A complete model of six-degree of freedom for a group of cooperative UAVs is used in the MATLAB Simulink 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. 2023 artículo científico 1665-6423 https://www.redalyc.org/articulo.oa?id=47480097013 https://www.redalyc.org/journal/474/47480097013/ https://www.redalyc.org/journal/474/47480097013/html/ https://www.redalyc.org/journal/474/47480097013/47480097013.epub https://www.redalyc.org/journal/474/47480097013/movil 10.22201/icat.24486736e.2023.21.4.1738 en http://www.redalyc.org/revista.oa?id=474 Journal of Applied Research and Technology application/pdf Universidad Nacional Autónoma de México Journal of Applied Research and Technology (México) Num.4 Vol.21 |
| title | Backstepping-ANFIS hybrid controller design for cooperative quadrotors |
| topic | Ingeniería UAV ANFIS Quadrotor backstepping |
| url | https://www.redalyc.org/articulo.oa?id=47480097013 https://www.redalyc.org/journal/474/47480097013/ https://www.redalyc.org/journal/474/47480097013/html/ https://www.redalyc.org/journal/474/47480097013/47480097013.epub https://www.redalyc.org/journal/474/47480097013/movil |