A novel hybrid back-stepping and fuzzy logic control strategy for a quadcopter. (3rd August 2017)

• Record Type: Journal Article
• Authors: Shraim, H.; Harkouss, Y.; Bazzi, H.
• Is Part Of: Aeronautical journal. Volume 121:Number 1244(2017)
• Page Start: 1444
• Page End: 1463
• Publication Date: 2017-08-03
• Subjects: Quadrotor modelling, -- Integral Back-stepping, -- Fuzzy Logic; Aeronautics -- Periodicals; 629.1305
• DOI: 10.1017/aer.2017.70
• Languages: English
• ISSNs: 0001-9240

Abstract

ABSTRACT: This article aims to present a novel control strategy for quadrotor helicopter. It is composed of three main parts constituting the system modelling, the integral back-stepping control, and fuzzy logic compensator. In the first part, a non-linear model is presented taking in consideration some non-linearities and variables that are usually neglected. In the second part, a controller based on the integral back-stepping algorithm has been developed for the system in order to make the system follows a desired path. However, due to complexity of paths and to the presence of unknown disturbances, a fuzzy logic compensator is added in parallel to the integral back-stepping controller to improve trajectory tracking in some critical conditions (high wind speed, mass variation, etc.). Simulation results have been presented to show the effectiveness of the proposed approach.