Distributed adaptive dynamic surface formation control for uncertain multiple quadrotor systems with interval type-2 fuzzy neural networks

Teh Lu Liao, Wei Shou Chan, Jun Juh Yan

Research output: Contribution to journalArticle

3 Citations (Scopus)

Abstract

This paper presents a distributed adaptive formation control method for uncertain multiple quadrotor systems under a directed graph that characterizes the interaction among the leader and followers. The proposed approach is based on an adaptive dynamic surface control, consensus algorithm and graph theory, where the system uncertainties are approximately modelled by interval type-2 fuzzy neural networks. The adaptive laws of interval type-2 fuzzy neural network parameters are derived from the stability analysis. In this study, the robust stability of the closed-loop system is guaranteed by the Lyapunov theorem, and the leader-follower formation goal can be asymptotically achieved. The developed control scheme is applied to the followers of quadrotor systems for performance evaluations. Simulation results are also provided to compare with the existing methods and reveal the superiority of the proposed adaptive formation controller.

Original languageEnglish
Pages (from-to)1861-1879
Number of pages19
JournalTransactions of the Institute of Measurement and Control
Volume41
Issue number7
DOIs
Publication statusPublished - 2019 Apr 1

All Science Journal Classification (ASJC) codes

  • Instrumentation

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