title: Fuzzy-Based Hybrid Control Algorithm for the Stabilization of a Tri-Rotor UAV.
abstract: In this paper, a new and novel mathematical fuzzy hybrid scheme is proposed for the stabilization of a tri-rotor unmanned aerial vehicle (UAV). The fuzzy hybrid scheme consists of a fuzzy logic controller, regulation pole-placement tracking (RST) controller with model reference adaptive control (MRAC), in which adaptive gains of the RST controller are being fine-tuned by a fuzzy logic controller. Brushless direct current (BLDC) motors are installed in the triangular frame of the tri-rotor UAV, which helps maintain control on its motion and different altitude and attitude changes, similar to rotorcrafts. MRAC-based MIT rule is proposed for system stability. Moreover, the proposed hybrid controller with nonlinear flight dynamics is shown in the presence of translational and rotational velocity components. The performance of the proposed algorithm is demonstrated via MATLAB simulations, in which the proposed fuzzy hybrid controller is compared with the existing adaptive RST controller. It shows that our proposed algorithm has better transient performance with zero steady-state error, and fast convergence towards stability.
authors.affiliation: College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China. zainanwar86@hotmail.com.
authors.forename: Zain Anwar
authors.initials: ZA
authors.lastname: Ali
authors.affiliation: College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China. dbwangpe@nuaa.edu.cn.
authors.forename: Daobo
authors.initials: D
authors.lastname: Wang
authors.affiliation: Electronic Engineering Department, Sir Syed University of Engineering and Technology, Karachi 75300, Pakistan. muaamir5@yahoo.com.
authors.forename: Muhammad
authors.initials: M
authors.lastname: Aamir
keywords: RST controller; Tri-Rotor UAV; Unmanned Aerial Vehicle; fuzzy hybrid controller