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Article Dans Une Revue Journal of Automation, Mobile Robotics & Intelligent Systems Année : 2008

Control of a Drone: Study and Analysis of the Robustness

Résumé

The work describes an automatically on-line Self-Tunnable Fuzzy Interference Systems (STFIS) of a new configuration of mini-flying called XSF (X4 Stationary Flyer) drone. A Fuzzy controller based on-line optimization of a zero order Takagi-Sugeno fuzzy interference system (FIS) by a back propagation like algorithm is successfully applied. It is used to minimize a cost function that is made up of a quadratic error term and a weight decay term that prevents an excessive growth of parameters. Thus, we carried out control for helical trajectories by using the STFIS technique. This permits to prove the effectiveness of the proposed control law. Simulation results and a comparison with a Static Feedback Linearization controller (SFL) are presented and discussed. We studied the robustness of the two used controllers in the presence of disturbances. We presented the case of an engine breakdown as well as a gust of wind and taking into account white noise disturbances.
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Dates et versions

hal-00360723 , version 1 (13-12-2023)

Identifiants

  • HAL Id : hal-00360723 , version 1

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Kadda Zemalache, Lotfi Beji, Hichem Maaref. Control of a Drone: Study and Analysis of the Robustness. Journal of Automation, Mobile Robotics & Intelligent Systems, 2008, 2 (1), pp.33--42. ⟨hal-00360723⟩
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