Open AccessAdaptive fuzzy multi‐surface sliding control of multiple‐input and multiple‐output autonomous flight systems
Author(s) -
Norton Michael,
Khoo Suiyang,
Kouzani Abbas,
Stojcevski Alex
Publication year - 2015
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/iet-cta.2014.0209
Subject(s) - control theory (sociology) , adaptive control , control engineering , fuzzy logic , computer science , fuzzy control system , surface (topology) , control (management) , engineering , artificial intelligence , mathematics , geometry
In this study, we proposed an adaptive fuzzy multi‐surface sliding control (AFMSSC) for trajectory tracking of 6 degrees of freedom inertia coupled aerial vehicles with multiple inputs and multiple outputs (MIMO). It is shown that an adaptive fuzzy logic‐based function approximator can be used to estimate the system uncertainties and an iterative multi‐surface sliding control design can be carried out to control flight. Using AFMSSC on MIMO autonomous flight systems creates confluent control that can account for both matched and mismatched uncertainties, system disturbances and excitation in internal dynamics. It is proved that the AFMSSC system guarantees asymptotic output tracking and ultimate uniform boundedness of the tracking error. Simulation results are presented to validate the analysis.