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A novel hybrid back-stepping and fuzzy logic control strategy for a quadcopter

Published online by Cambridge University Press:  03 August 2017

H. Shraim ,
Y. Harkouss  and
H. Bazzi
H. Shraim*
Affiliation:
Lebanese University, Faculty of Engineering III, Beirut, Lebanon
Y. Harkouss
Affiliation:
Lebanese University, Faculty of Engineering III, Beirut, Lebanon
H. Bazzi
Affiliation:
Lebanese University, Faculty of Engineering III, Beirut, Lebanon
*
hassan.shraim@gmail.com
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Abstract

This article aims to present a novel control strategy for quadrotor helicopter. It is composed of three main parts constituting the system modelling, the integral back-stepping control, and fuzzy logic compensator. In the first part, a non-linear model is presented taking in consideration some non-linearities and variables that are usually neglected. In the second part, a controller based on the integral back-stepping algorithm has been developed for the system in order to make the system follows a desired path. However, due to complexity of paths and to the presence of unknown disturbances, a fuzzy logic compensator is added in parallel to the integral back-stepping controller to improve trajectory tracking in some critical conditions (high wind speed, mass variation, etc.). Simulation results have been presented to show the effectiveness of the proposed approach.

Keywords

Quadrotor modellingIntegral Back-steppingFuzzy Logic
Type
Research Article
Information
The Aeronautical Journal , Volume 121 , Issue 1244 , October 2017 , pp. 1444 - 1463
Copyright
Copyright © Royal Aeronautical Society 2017 

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