Title :
Optimal attitude control of a quadrotor UAV using Adaptive Neuro-Fuzzy Inference System (ANFIS)
Author :
Rezazadeh, S. ; Ardestani, M.A. ; Sadeghi, P.S.
Author_Institution :
Dept. of Mechatron. Eng., Islamic Azad Univ., Qazvin, Iran
Abstract :
This paper develops an Adaptive Neuro-Fuzzy Inference System (ANFIS) to control a quadrotor UAV. Adaptive capabilities of the proposed controller help to stabilize the complex and under-actuated rotorcraft system. Parameters of the controller are optimized using Nondominated Sorting Genetic Algorithm-II. Simulations show that ANFIS improves response properties compared to simple PID control.
Keywords :
aircraft control; attitude control; autonomous aerial vehicles; fuzzy neural nets; genetic algorithms; helicopters; inference mechanisms; optimal control; ANFIS; adaptive neurofuzzy inference system; complex under-actuated rotorcraft system; nondominated sorting genetic algorithm-II; optimal attitude control; quadrotor UAV control; Adaptive systems; Attitude control; Conferences; Mathematical model; Optimization; PD control;
Conference_Titel :
Control, Instrumentation, and Automation (ICCIA), 2013 3rd International Conference on
Conference_Location :
Tehran
DOI :
10.1109/ICCIAutom.2013.6912838
