Adaptive Fuzzy Control of Quadrotor PDF Download
Are you looking for read ebook online? Search for your book and save it on your Kindle device, PC, phones or tablets. Download Adaptive Fuzzy Control of Quadrotor PDF full book. Access full book title Adaptive Fuzzy Control of Quadrotor by Muhammad Awais Sattar. Download full books in PDF and EPUB format.
Author: Muhammad Awais Sattar
Publisher:
ISBN:
Category : Drone aircraft
Languages : en
Pages : 76
Get Book Here
Book Description
"In this thesis, intelligent controllers are designed to control attitude for quadrotor UAV (Unmanned Aerial Vehicle).Quadrotors have a variety of applications in real time e.g. surveillance, inspection, search, rescue and reducing the human force in undesirable conditions. Quadrotors are generally unstable systems; the kinematics of quadrotor resembles the kinematics of inverted pendulum. In order to avoid the possibility of any kind of damages, the mathematical model of quadrotor should be developed and after that, the different control techniques can be implemented. This thesis presents a detailed simulation model for a Quadrotor. For the control purpose, three classical and modern control strategies are separately implemented which are PID, Fuzzy, and Adaptive Fuzzy PID for four basic motions roll, pitch, yaw, and Z Height. For better performance, error reduction and easy tuning, this thesis introduces individual controllers for all basic motion of a Quadrotor. The modeling and control is done using MATLAB/Simulink. The main objective of this thesis is to get the desired output with respect to the desired the input. At the end, simulation results are compared to check which controller acts the best for the developed Quadrotor model"--Abstract.
Author: Muhammad Awais Sattar
Publisher:
ISBN:
Category : Drone aircraft
Languages : en
Pages : 76
Get Book Here
Book Description
"In this thesis, intelligent controllers are designed to control attitude for quadrotor UAV (Unmanned Aerial Vehicle).Quadrotors have a variety of applications in real time e.g. surveillance, inspection, search, rescue and reducing the human force in undesirable conditions. Quadrotors are generally unstable systems; the kinematics of quadrotor resembles the kinematics of inverted pendulum. In order to avoid the possibility of any kind of damages, the mathematical model of quadrotor should be developed and after that, the different control techniques can be implemented. This thesis presents a detailed simulation model for a Quadrotor. For the control purpose, three classical and modern control strategies are separately implemented which are PID, Fuzzy, and Adaptive Fuzzy PID for four basic motions roll, pitch, yaw, and Z Height. For better performance, error reduction and easy tuning, this thesis introduces individual controllers for all basic motion of a Quadrotor. The modeling and control is done using MATLAB/Simulink. The main objective of this thesis is to get the desired output with respect to the desired the input. At the end, simulation results are compared to check which controller acts the best for the developed Quadrotor model"--Abstract.
Author: Kaiyu Zhao
Publisher:
ISBN:
Category :
Languages : en
Pages :
Get Book Here
Book Description
With improvements on automation, computer, electronics and other technologies, applications of unmanned aerial vehicles (UAVs) have expanded from pure military field to civilian areas. As a multirotor aircraft, a quadrotor UAV has the advantages of simple structure, small size, high manoeuvrability, etc. On the basis of summarizing the current research situation of the quadrotor UAV, a deep research has been conducted on the attitude control system of the quadrotor UAV and two controllers are proposed to generate a stable performance: Back-stepping controller, adaptive fuzzy back-stepping nonlinear controller. The quadrotor UAV consists of two pairs of rotors and propellers, which can generate thrust and air drag. The dynamic model is derived using the Euler-Lagrangian method and Newton method with 6 degrees of freedom. To represent the model of the quadrotor, Euler angles representation is first derived. However, facing the gimbal lock drawback of Euler angles representation, unit quaternion representation is then discussed afterwards. In normal situations, model parameter uncertainties and external disturbances would affect the system output. Due to this problem, an adaptive fuzzy strategy is designed to approximate the uncertain model using back-stepping techniques with the Lyapunov stability theorem. Firstly, simulations are used to prove the mathematical feasibility. And then experimental results will be provided to illustrate the satisfactory performances of the proposed approach in real time.
Author: Kaushik Das Sharma
Publisher: Springer
ISBN: 9811312982
Category : Technology & Engineering
Languages : en
Pages : 310
Get Book Here
Book Description
This book discusses systematic designs of stable adaptive fuzzy logic controllers employing hybridizations of Lyapunov strategy-based approaches/H∞ theory-based approaches and contemporary stochastic optimization techniques. The text demonstrates how candidate stochastic optimization techniques like Particle swarm optimization (PSO), harmony search (HS) algorithms, covariance matrix adaptation (CMA) etc. can be utilized in conjunction with the Lyapunov theory/H∞ theory to develop such hybrid control strategies. The goal of developing a series of such hybridization processes is to combine the strengths of both Lyapunov theory/H∞ theory-based local search methods and stochastic optimization-based global search methods, so as to attain superior control algorithms that can simultaneously achieve desired asymptotic performance and provide improved transient responses. The book also demonstrates how these intelligent adaptive control algorithms can be effectively utilized in real-life applications such as in temperature control for air heater systems with transportation delay, vision-based navigation of mobile robots, intelligent control of robot manipulators etc.
Author: Mohamed Elkhatib
Publisher:
ISBN: 9783330845961
Category :
Languages : en
Pages : 144
Get Book Here
Book Description
Author: Zdenko Kovacic
Publisher: CRC Press
ISBN: 9781420026504
Category : Technology & Engineering
Languages : en
Pages : 424
Get Book Here
Book Description
Fuzzy control methods are critical for meeting the demands of complex nonlinear systems. They bestow robust, adaptive, and self-correcting character to complex systems that demand high stability and functionality beyond the capabilities of traditional methods. A thorough treatise on the theory of fuzzy logic control is out of place on the design bench. That is why Fuzzy Controller Design: Theory and Applications offers laboratory- and industry-tested algorithms, techniques, and formulations of real-world problems for immediate implementation. With surgical precision, the authors carefully select the fundamental elements of fuzzy logic control theory necessary to formulate effective and efficient designs. The book supplies a springboard of knowledge, punctuated with examples worked out in MATLAB®/SIMULINK®, from which newcomers to the field can dive directly into applications. It systematically covers the design of hybrid, adaptive, and self-learning fuzzy control structures along with strategies for fuzzy controller design suitable for on-line and off-line operation. Examples occupy an entire chapter, with a section devoted to the simulation of an electro-hydraulic servo system. The final chapter explores industrial applications with emphasis on techniques for fuzzy controller implementation and different implementation platforms for various applications. With proven methods based on more than a decade of experience, Fuzzy Controller Design: Theory and Applications is a concise guide to the methodology, design steps, and formulations for effective control solutions.
Author: Hiram Eredín Ponce Espinosa
Publisher: Springer
ISBN: 3319262300
Category : Technology & Engineering
Languages : en
Pages : 295
Get Book Here
Book Description
The book presents recent advances in nature-inspired computing, giving a special emphasis to control systems applications. It reviews different techniques used for simulating physical, chemical, biological or social phenomena at the purpose of designing robust, predictive and adaptive control strategies. The book is a collection of several contributions, covering either more general approaches in control systems, or methodologies for control tuning and adaptive controllers, as well as exciting applications of nature-inspired techniques in robotics. On one side, the book is expected to motivate readers with a background in conventional control systems to try out these powerful techniques inspired by nature. On the other side, the book provides advanced readers with a deeper understanding of the field and a broad spectrum of different methods and techniques. All in all, the book is an outstanding, practice-oriented reference guide to nature-inspired computing addressing graduate students, researchers and practitioners in the field of control engineering.
Author: Pedro Ponce-Cruz
Publisher: Springer
ISBN: 331926656X
Category : Technology & Engineering
Languages : en
Pages : 247
Get Book Here
Book Description
This book is a comprehensive introduction to LabVIEW FPGATM, a package allowing the programming of intelligent digital controllers in field programmable gate arrays (FPGAs) using graphical code. It shows how both potential difficulties with understanding and programming in VHDL and the consequent difficulty and slowness of implementation can be sidestepped. The text includes a clear theoretical explanation of fuzzy logic (type 1 and type 2) with case studies that implement the theory and systematically demonstrate the implementation process. It goes on to describe basic and advanced levels of programming LabVIEW FPGA and show how implementation of fuzzy-logic control in FPGAs improves system responses. A complete toolkit for implementing fuzzy controllers in LabVIEW FPGA has been developed with the book so that readers can generate new fuzzy controllers and deploy them immediately. Problems and their solutions allow readers to practice the techniques and to absorb the theoretical ideas as they arise. Fuzzy Logic Type 1 and Type 2 Based on LabVIEW FPGATM, helps students studying embedded control systems to design and program those controllers more efficiently and to understand the benefits of using fuzzy logic in doing so. Researchers working with FPGAs find the text useful as an introduction to LabVIEW and as a tool helping them design embedded systems.
Author: Hafiz Shafeek Ali Khafagy
Publisher:
ISBN:
Category : Adaptive control systems
Languages : en
Pages : 366
Get Book Here
Book Description
Author: Federico Casolo
Publisher: BoD – Books on Demand
ISBN: 9537619559
Category : Science
Languages : en
Pages : 594
Get Book Here
Book Description
The book reveals many different aspects of motion control and a wide multiplicity of approaches to the problem as well. Despite the number of examples, however, this volume is not meant to be exhaustive: it intends to offer some original insights for all researchers who will hopefully make their experience available for a forthcoming publication on the subject.
Author: Jinkun Liu
Publisher: Springer Science & Business Media
ISBN: 3642209076
Category : Technology & Engineering
Languages : en
Pages : 367
Get Book Here
Book Description
"Advanced Sliding Mode Control for Mechanical Systems: Design, Analysis and MATLAB Simulation" takes readers through the basic concepts, covering the most recent research in sliding mode control. The book is written from the perspective of practical engineering and examines numerous classical sliding mode controllers, including continuous time sliding mode control, discrete time sliding mode control, fuzzy sliding mode control, neural sliding mode control, backstepping sliding mode control, dynamic sliding mode control, sliding mode control based on observer, terminal sliding mode control, sliding mode control for robot manipulators, and sliding mode control for aircraft. This book is intended for engineers and researchers working in the field of control. Dr. Jinkun Liu works at Beijing University of Aeronautics and Astronautics and Dr. Xinhua Wang works at the National University of Singapore.
