Backstepping-ANFIS hybrid controller design for cooperative quadrotors
Abstract 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.
| Main Authors: | , , , |
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| Format: | Digital revista |
| Language: | English |
| Published: |
Universidad Nacional Autónoma de México, Instituto de Ciencias Aplicadas y Tecnología
2023
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| Online Access: | http://www.scielo.org.mx/scielo.php?script=sci_arttext&pid=S1665-64232023000400665 |
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