Abstract
This paper aims to provide a clear explanation of the role of the footprint of uncertainty (FOU) parameters on the control signal generation and, thus, to increase the interpretability of specially structured interval type-2 (IT2) fuzzy logic controllers, namely single input IT2 fuzzy PID (SI-IT2-FPID) controller. In this context, we extend the analysis performed for SI-IT2-FPID controllers by providing the effect of the FOU parameters on control surface (CS) generation. We show that, by only adjusting a single parameter that shapes the FOU, it is possible to generate commonly employed CSs without a requirement of an optimization assistance. In order to validate our theoretical analysis, we present comparative real world quadcopter flight tests. The real-time experimental results show that the SI-IT2-FPID controller can achieve better control performance in the presence of uncertainties and strong wind conditions when compared to its type-1 and conventional counterparts. We believe that the results of this study will open the doors to a wider use of SI-IT2-FPID controllers in real world control applications as the proposed structure is easy to design and feasible to deploy, especially in real-time control systems.
Original language | English |
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Pages (from-to) | 5069-5077 |
Number of pages | 9 |
Journal | IEEE Transactions on Industrial Electronics |
Volume | 65 |
Issue number | 6 |
DOIs | |
Publication status | Published - Jun 2018 |
Bibliographical note
Publisher Copyright:© 1982-2012 IEEE.
Funding
Manuscript received April 30, 2017; revised July 27, 2017 and September 9, 2017; accepted October 14, 2017. Date of publication October 27, 2017; date of current version February 13, 2018. This work was supported in part by the ST Engineering–NTU Corporate Lab through the NRF Corporate Lab@University Scheme. (Corresponding author: Erdal Kayacan.) A. Sarabakha and C. Fu are with the School of Mechanical and Aerospace Engineering, Nanyang Technological University (NTU), Singapore 639798, and also with the ST Engineering–NTU Corporate Lab, Singapore 639798 (e-mail: [email protected]; [email protected]).
Funders | Funder number |
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NTU Corporate Lab | |
National Research Foundation Singapore |
Keywords
- Design and deployment
- interval type-2 (IT2) fuzzy logic control
- three-dimensional (3-D) trajectory tracking
- unmanned aerial vehicle (UAV)