Design of an Executable ANFIS-based Control System to Improve the Attitude and Altitude Performances of a Quadcopter Drone

doi:10.1007/s11633-020-1251-2

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	Design of an Executable ANFIS-based Control System to Improve the Attitude and Altitude Performances of a Quadcopter Drone
	Mohammad Al-Fetyani 1; Mohammad Hayajneh 2; Adham Alsharkawi 1
发表期刊	International Journal of Automation and Computing
ISSN	1476-8186
	2021
卷号	18 期号:1 页码:124-140
摘要	Nowadays, quadcopters are presented in many life applications which require the performance of automatic takeoff, trajectory tracking, and automatic landing. Thus, researchers are aiming to enhance the performance of these vehicles through low-cost sensing solutions and the design of executable and robust control techniques. Due to high nonlinearities, strong couplings and under-actuation, the control design process of a quadcopter is a rather challenging task. Therefore, the main objective of this work is demonstrated through two main aspects. The first is the design of an adaptive neuro-fuzzy inference system (ANFIS) controller to develop the attitude and altitude of a quadcopter. The second is to create a systematic framework for implementing flight controllers in embedded systems. A suitable model of the quadcopter is also developed by taking into account aerodynamics effects. To show the effectiveness of the ANFIS approach, the performance of a well-trained ANFIS controller is compared to a classical proportional-derivative (PD) controller and a properly tuned fuzzy logic controller. The controllers are compared and tested under several different flight conditions including the capability to reject external disturbances. In the first stage, performance evaluation takes place in a nonlinear simulation environment. Then, the ANFIS-based controllers alongside attitude and position estimators, and precision landing algorithms are implemented for executions in a real-time autopilot. In precision landing systems, an IR-camera is used to detect an IR-beacon on the ground for precise positioning. Several flight tests of a quadcopter are conducted for results validation. Both simulations and experiments demonstrated superior results for quadcopter stability in different flight scenarios.
关键词	Quadcopter proportional integral derivate (PID) control fuzzy control adaptive neuro-fuzzy altitude control attitude control
DOI	10.1007/s11633-020-1251-2
引用统计	被引频次：8[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/42459
专题	学术期刊_Machine Intelligence Research
作者单位	1.Department of Mechatronics Engineering, The University of Jordan, Amman11942, Jordan 2.Department of Mechatronics Engineering, The Hashemite University, Zarqa13133, Jordan
推荐引用方式 GB/T 7714	Mohammad Al-Fetyani,Mohammad Hayajneh,Adham Alsharkawi. Design of an Executable ANFIS-based Control System to Improve the Attitude and Altitude Performances of a Quadcopter Drone[J]. International Journal of Automation and Computing,2021,18(1):124-140.
APA	Mohammad Al-Fetyani,Mohammad Hayajneh,&Adham Alsharkawi.(2021).Design of an Executable ANFIS-based Control System to Improve the Attitude and Altitude Performances of a Quadcopter Drone.International Journal of Automation and Computing,18(1),124-140.
MLA	Mohammad Al-Fetyani,et al."Design of an Executable ANFIS-based Control System to Improve the Attitude and Altitude Performances of a Quadcopter Drone".International Journal of Automation and Computing 18.1(2021):124-140.

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