Single-Input Fuzzy-Sliding Mode Control for an Underactuated Quadrotor Craft

This work presents performance analysis between conventional fuzzy-based sliding mode control (F-SMC) and single-dimension fuzzy-sliding mode control (SDF-SMC) for an underactuated quadrotor craft. It has been observed that fuzzy logic control (FLC) can resolve various issues of sliding mode control...

Full description

Main Authors: Abro, G.E.M., Asirvadam, V.S., Zulkifli, S.A.
Format: Conference or Workshop Item
Institution: Universiti Teknologi Petronas
Record Id / ISBN-0: utp-eprints.29956 /
Published: Institute of Electrical and Electronics Engineers Inc. 2020
Online Access: https://www.scopus.com/inward/record.uri?eid=2-s2.0-85098082991&doi=10.1109%2fIICAIET49801.2020.9257830&partnerID=40&md5=9074efd768ce2b05d294fa0e34c7c3de
http://eprints.utp.edu.my/29956/
Tags: Add Tag
No Tags, Be the first to tag this record!
id utp-eprints.29956
recordtype eprints
spelling utp-eprints.299562022-03-25T03:16:45Z Single-Input Fuzzy-Sliding Mode Control for an Underactuated Quadrotor Craft Abro, G.E.M. Asirvadam, V.S. Zulkifli, S.A. This work presents performance analysis between conventional fuzzy-based sliding mode control (F-SMC) and single-dimension fuzzy-sliding mode control (SDF-SMC) for an underactuated quadrotor craft. It has been observed that fuzzy logic control (FLC) can resolve various issues of sliding mode controller (SMC) for the quadrotor, such as reduction in chattering noise or Zeno phenomenon. However, FLC increases required computational power and processing time, which directly rely on the list of rules defined for the FLC. These rules trigger the gains of the SMC. This paper presents an approach to convert the conventional FLC two-dimensional rule-based table into a single-dimension table, leading to a control algorithm referred to as single-input fuzzy-sliding mode control. Numerical simulation work has been implemented on MATLAB-Simulink software, which demonstrates the same control performance of the SDF-SMC as the conventional F-SMC, but with the improvement of reduced computational power and processing time. © 2020 IEEE. Institute of Electrical and Electronics Engineers Inc. 2020 Conference or Workshop Item NonPeerReviewed https://www.scopus.com/inward/record.uri?eid=2-s2.0-85098082991&doi=10.1109%2fIICAIET49801.2020.9257830&partnerID=40&md5=9074efd768ce2b05d294fa0e34c7c3de Abro, G.E.M. and Asirvadam, V.S. and Zulkifli, S.A. (2020) Single-Input Fuzzy-Sliding Mode Control for an Underactuated Quadrotor Craft. In: UNSPECIFIED. http://eprints.utp.edu.my/29956/
institution Universiti Teknologi Petronas
collection UTP Institutional Repository
description This work presents performance analysis between conventional fuzzy-based sliding mode control (F-SMC) and single-dimension fuzzy-sliding mode control (SDF-SMC) for an underactuated quadrotor craft. It has been observed that fuzzy logic control (FLC) can resolve various issues of sliding mode controller (SMC) for the quadrotor, such as reduction in chattering noise or Zeno phenomenon. However, FLC increases required computational power and processing time, which directly rely on the list of rules defined for the FLC. These rules trigger the gains of the SMC. This paper presents an approach to convert the conventional FLC two-dimensional rule-based table into a single-dimension table, leading to a control algorithm referred to as single-input fuzzy-sliding mode control. Numerical simulation work has been implemented on MATLAB-Simulink software, which demonstrates the same control performance of the SDF-SMC as the conventional F-SMC, but with the improvement of reduced computational power and processing time. © 2020 IEEE.
format Conference or Workshop Item
author Abro, G.E.M.
Asirvadam, V.S.
Zulkifli, S.A.
spellingShingle Abro, G.E.M.
Asirvadam, V.S.
Zulkifli, S.A.
Single-Input Fuzzy-Sliding Mode Control for an Underactuated Quadrotor Craft
author_sort Abro, G.E.M.
title Single-Input Fuzzy-Sliding Mode Control for an Underactuated Quadrotor Craft
title_short Single-Input Fuzzy-Sliding Mode Control for an Underactuated Quadrotor Craft
title_full Single-Input Fuzzy-Sliding Mode Control for an Underactuated Quadrotor Craft
title_fullStr Single-Input Fuzzy-Sliding Mode Control for an Underactuated Quadrotor Craft
title_full_unstemmed Single-Input Fuzzy-Sliding Mode Control for an Underactuated Quadrotor Craft
title_sort single-input fuzzy-sliding mode control for an underactuated quadrotor craft
publisher Institute of Electrical and Electronics Engineers Inc.
publishDate 2020
url https://www.scopus.com/inward/record.uri?eid=2-s2.0-85098082991&doi=10.1109%2fIICAIET49801.2020.9257830&partnerID=40&md5=9074efd768ce2b05d294fa0e34c7c3de
http://eprints.utp.edu.my/29956/
_version_ 1741197326517534720
score 11.62408

Similar Items