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首页> 外文期刊>IEEE / ASME Transactions on Mechatronics >Adaptive Second-Order Strictly Negative Imaginary Controllers Based on the Interval Type-2 Fuzzy Self-Tuning Systems for a Hovering Quadrotor With Uncertainties
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Adaptive Second-Order Strictly Negative Imaginary Controllers Based on the Interval Type-2 Fuzzy Self-Tuning Systems for a Hovering Quadrotor With Uncertainties

机译：不确定的基于区间2型模糊自校正系统的自适应二阶严格负虚部控制器

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摘要

We introduce a new adaptive control technique based on the second-order strictly negative imaginary (SNI) controller, coupled with the interval type-2 fuzzy self-tuning mechanism. We demonstrate the performance of our controllers in the three control loops of the AR.Drone quadrotor to achieve stable and balanced hover performance in flights with a variable Center-of-Gravity (CoG). To facilitate an automatic tuning mechanicsm in our SNI controller, we employ the knowledge-based interval Type-2 Takagi-Sugeno fuzzy system, known for its ability to accommodate the footprint-of-uncertainties (FoU). The proposed adaptive control law is implemented to compensate the dynamic variations in the quadrotor's CoG when the mass of the payload is constantly varied. The robustness and the effectiveness of the proposed control technique are highlighted not only using extensive computer simulations, but also through numerous real-time flight tests. Besides, we also conduct the stability analysis based on the SNI theorem.
机译：我们引入了一种新的基于二阶严格负虚数（SNI）控制器的自适应控制技术，并结合了间隔2型模糊自整定机制。我们演示了AR.Drone四旋翼飞机的三个控制回路中控制器的性能，以在重心可变（CoG）的飞行中实现稳定且平衡的悬停性能。为了促进SNI控制器中的自动调整机制，我们采用了基于知识的区间Type-2 Takagi-Sugeno模糊系统，该系统以适应不确定足迹（FoU）的能力而闻名。当负载的质量不断变化时，所提出的自适应控制定律可以补偿四旋翼CoG的动态变化。不仅通过广泛的计算机仿真，而且通过大量的实时飞行测试，突出了所提出的控制技术的鲁棒性和有效性。此外，我们还基于SNI定理进行稳定性分析。

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