Fuzzy swarm trajectory tracking control of unmanned aerial vehicle

编号 030025503

推送时间 20200907

研究领域 森林经理 

年份 2020 

类型 期刊 

语种 英语

标题 Fuzzy swarm trajectory tracking control of unmanned aerial vehicle

来源期刊 Fuzzy swarm trajectory tracking control of?unmanned?aerial?vehicle

期 第255期

发表时间 20200409

关键词 unmanned aerial vehicle (UAV);  intelligent control;  adaptive neuro-fuzzy inference system (ANFIS);  particle swarm optimization (PSO); 

摘要 Accurate and precise trajectory tracking is crucial for unmanned aerial vehicles (UAVs) to operate in disturbed environments. This paper presents a novel tracking hybrid controller for a quadrotor UAV that combines the robust adaptive neuro-fuzzy inference system (ANFIS) and particle swarm optimization (PSO) algorithm. The ANFIS-PSO controller is implemented to govern the behavior of three degrees of freedom quadrotor UAV. The ANFIS controller allows controlling the movement of UAV to track a given trajectory in a 2D vertical plane. The PSO algorithm provides an automatic adjustment of the ANFIS parameters to reduce tracking error and improve the quality of the controller. The results showed perfect behavior for the control law to control a UAV trajectory tracking task. To show the effectiveness of the intelligent controller, simulation results are given to confirm the advantages of the proposed control method, compared with ANFIS and PID control methods.

服务人员 付贺龙

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