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Optimal Direct Adaptive Fuzzy Controller based on Bat Algorithm for UAV Quadrotor

Abstract : An optimal direct robust adaptive fuzzy controller (ODAFC) for a quadrotor system using bat algorithm (BA) is presented in this paper. The concept of this approach is to decouple the entire system into four single-input single-output (SISO) subsystems. Then, a Mamdani-type fuzzy adaptive controller and a compensated control term are employed using tracking error universe in direct control for each subsystem. After, the BA is used to determine the optimal values of the adaptation parameters. The proposed control scheme completely overcomes the singularity problem that occurs in the indirect adaptive control. The stability of the quadrotor control system, which is based on the Lyapunov theory, is guaranteed. Simulation results demonstrate the capability and the efficiency of the proposed technique even with uncertainties and external disturbances.
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Submitted on : Thursday, October 28, 2021 - 9:33:33 AM
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Hossam Eddine Glida, Latifa Abdou, Abdelghani Chelihi, Chouki Sentouh. Optimal Direct Adaptive Fuzzy Controller based on Bat Algorithm for UAV Quadrotor. 2019 8th International Conference on Systems and Control (ICSC), Oct 2019, Marrakesh, Morocco. pp.52-57, ⟨10.1109/ICSC47195.2019.8950585⟩. ⟨hal-03406797⟩



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