|Optimal type II fuzzy neural network controller for Eight-Rotor MAV
Xiang-jian Chen*, Di Li, Xi-Bei Yang, and Yuecheng Yu
International Journal of Control, Automation, and Systems, vol. 15, no. 4, pp.1960-1968, 2017
Abstract : "This paper focuses on modeling and intelligent control of the new eight-rotor MAV which is used to solve
the problem of low coefficient proportion between lift and gravity for QuadrotorMAV. The dynamic and kinematical
modeling for the eight-rotor MAV.Neuro-Fuzzy adaptive controller is proposed which is composed of two type-II
fuzzy neural networks (T-IIFNNs) and one PD controller: The PD controller is adopted to control the attitude, one
of the T-IIFNNs is designed to learn the inverse model of eight-rotor MAV on-line, the other one is the copy of the
former one to compensate for model errors and external disturbances, both structure and parameters of T-IIFNNs are
tuned on-line at the same time, and then the stability of the eight-rotor MAV closed-loop control system is proved
using Lyapunov stability theory. Meanwhile ,in order to reduce the computation work, the type-reduction and
model construction process have been improved. For the issue of type reduction, a novel improved EKM algorithm
is developed for improving the EKM algorithm. The proposed algorithm provides two improvements on the EKM
algorithm. For the issue of rules redundant, the concept of normalized difference is proposed to describe the change
of adjacent singular value so as to reflect the essential differences between redundant rules and important rules.
Then the number of effective singular can be determined according to its critical point, and the type-2 fuzzy model
is constructed with rules located by TLS decomposition. Finally, the validity of the proposed control method has
been verified through real-time experiments. The experimental results show that the performance of Neuro-Fuzzy
adaptive controller performs very well under sensor noise and external disturbances."
Keyword : eight-rotor MAV, Lyapunov stability theorem, optimal EKM algorithm, type-II Fuzzy neural network.