Visual-based quadrotor control by means of fuzzy cognitive maps

Amirkhani, Abdollah; Shirzadeh, Masoud; Papageorgiou, Elpiniki I.; Mosavi, Mohammad Reza

doi:10.1016/j.isatra.2015.11.007

Cited by 35 publications

(17 citation statements)

References 45 publications

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“…However, there are few studies in literature that show the effectiveness of using the FCM approach in the main controller design. In [19], the controllers designed based on the FCM approach are successfully used in a visual-based control application of a quadrotor. In [20], embedded dynamic fuzzy cognitive maps are used for control of an industrial mixer and satisfactory performance results are obtained compared with a fuzzy logic controller.…”

Section: Introductionmentioning

confidence: 99%

Bulanık Bilişsel Harita Tabanlı PD Kontrolörler Kullanılarak Ters Sarkaç Sisteminin Stabilizasyonu

Denizci¹,

Ulu²

2020

European Journal of Science and Technology

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Soft computing techniques are frequently used in modeling and control applications of nonlinear systems. However, the fuzzy cognitive map method, which is one of the soft computing techniques, is rarely used in control applications as a main controller. In this study, a fuzzy cognitive map based PD controller structure is introduced and used for the stabilization of an inverted pendulum system which is a nonlinear, unstable, and under-actuated system. The proposed controller has two inputs which are the error and the change of error. In the proposed PD controller structure, the crisp input values are fuzzified to be handled in a fuzzy cognitive map process. Then, causal relationships between fuzzified inputs and a control output are defined by using weight parameters. Finally, the crisp control output value which will be applied to the system is obtained by using an activation function. The types of membership functions used for the fuzzification process and the activation function determine the nonlinear characteristics of the proposed fuzzy cognitive map based PD controller. The proposed controller has three tuning parameters which are one output gain and two weight parameters. To show the effectiveness and robustness of the proposed fuzzy cognitive map based PD controller, simulation studies are performed on an inverted pendulum system. Additionally, the performance of the proposed controller is compared with a PD controller. All controller parameters are determined by using a genetic algorithm. Comparison results indicate that the proposed fuzzy cognitive map based PD controller shows better control performance than the classical PD controller.

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Section: Introductionmentioning

confidence: 99%

Bulanık Bilişsel Harita Tabanlı PD Kontrolörler Kullanılarak Ters Sarkaç Sisteminin Stabilizasyonu

Denizci¹,

Ulu²

2020

European Journal of Science and Technology

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“…In control applications, the FCM approach is generally used for the support or design of supervisory controllers [18][19][20]. It is very rare to use the FCM approach to design a main controller for process control applications [21][22][23][24][25]. In [21], the FCM method is used as the main controller for the temperature and humidity control of a room in winter and summer operation season.…”

Section: Introductionmentioning

confidence: 99%

“…In [23], the main controller based on the FCM structure is designed for control of a heatex process. FCM based controllers are designed for the path tracking application of an unmanned air vehicle in [24]. In [25], three different FCM based controller models are proposed in the PI controller form, and their effective performances are shown by performing simulation studies on a nonlinear system.…”

Section: Introductionmentioning

confidence: 99%

Bulanık Bilişsel Harita Tabanlı PID Kontrolör Tasarımı

Denizci¹,

Ulu²

2020

European Journal of Science and Technology

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Linear proportional-integral-derivative (PID) controllers are the most widely used process controllers in industrial applications due to their simple structures and effective performances. However, performances of these controllers reduce as the nonlinear characteristics or the system orders of the industrial processes increases. Therefore, various nonlinear PID controller models are proposed in literature to improve the control performances of linear PID controllers. In this study, a new nonlinear PID controller design approach is proposed based on the fuzzy cognitive map (FCM) method. Two different FCM based PID controller models are introduced. The first controller model is in the conventional parallel PID structure with three inputs as the error, the derivative of the error, and the integral of the error. On the other hand, the second controller model is in the conventional fuzzy PID form with two inputs as the error and the derivative of the error. In the proposed method, each input signal is firstly fuzzified by using a membership function. Then, causal relationships between inputs and the output are determined by using weight parameters. Finally, the FCM inference is performed by using an activation function. Therefore, the proposed nonlinear PID controllers have four and six tuning parameters, respectively. Simulation studies are performed on a fourth order linear system in order to evaluate the performance of the proposed FCM based PID controller models. The performances of these controller models are compared with a conventional PID controller and a fuzzy PID controller. The comparison results show that the proposed FCM based PID controller models outperform the conventional PID and fuzzy PID controllers.

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“…All the multirotors are propelled by rotors and their amount are up to their configurations [19]. In terms of dynamics modeling, conventional works have derived multirotor dynamics using a linear thruster model as T = k t 2 ([1]- [10], [8], [14]- [18]), where T and Q represent thrust and reacting torque generated by a single propeller, respectively; Besides, k t and k q represent thrust and reacting torque coefficients; and is the rotation speed of the propeller. This thruster model contains two implications: (1) k t and k q are constant in all of the flight state; and (2) the propeller only generates force T and torque Q continuously without any generating other secondary forces and moments.…”

Section: Introductionmentioning

confidence: 99%

Modeling and Adaptive Control for Multirotor Subject to Thruster Dynamics

Wang

2019

IEEE Access

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Research on high-speed flight dynamics of multirotors is in increasing demand for ''quickreach'' missions such as short-distance delivery and disaster assessment. The conventional works have integrated a linear thruster model in the dynamics modeling stage and developed a corresponding control algorithm; however, the linear thruster assumption has been shown to be accurate only in a near-hover state through wind tunnel tests. This paper proposes a novel multirotor dynamics model incorporating blade element momentum theory (BEM), which can precisely predict transient thruster output in various flight states (e.g., no flow, oblique flow, and pure side flow). With the proposed dynamics model, degradation of control performance caused by disturbances and variations is noticed under typical flight state (e.g., high-speed forward flight and drastic vertical rising). Finally, an adaptive robust backstepping control algorithm is proposed to achieve guaranteed performance under the aforementioned variations and disturbances. The simulations are carried out on a small quadrotor to verify the proposed approach. INDEX TERMS Adaptive robust control, multirotor dynamics modeling, blade element momentum theory, thruster model, high speed forward flight.

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Visual-based quadrotor control by means of fuzzy cognitive maps

Cited by 35 publications

References 45 publications

Bulanık Bilişsel Harita Tabanlı PD Kontrolörler Kullanılarak Ters Sarkaç Sisteminin Stabilizasyonu

Bulanık Bilişsel Harita Tabanlı PD Kontrolörler Kullanılarak Ters Sarkaç Sisteminin Stabilizasyonu

Bulanık Bilişsel Harita Tabanlı PID Kontrolör Tasarımı

Modeling and Adaptive Control for Multirotor Subject to Thruster Dynamics

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