UAV Control Based on Dual LQR and Fuzzy-PID Controller

This paper presents the design of a longitudinal controller for an autonomous unmanned aerial vehicle (UAV). This paper proposed the dual loop (inner-outer loop) control based on the intelligent algorithm. The inner feedback loop controller is a Linear Quadratic Regulator (LQR) to provide robust (a...

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Autores principales:	Malik M. A. Al-Isawi, Adnan J. Attiya, Julius O. ADOGHE
Formato:	article
Lenguaje:	EN
Publicado:	Al-Khwarizmi College of Engineering – University of Baghdad 2020
Materias:	Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040
Acceso en línea:	https://doaj.org/article/dc220351a67641e3996d217760338e29
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id	oai:doaj.org-article:dc220351a67641e3996d217760338e29
record_format	dspace
spelling	oai:doaj.org-article:dc220351a67641e3996d217760338e292021-12-02T09:24:03ZUAV Control Based on Dual LQR and Fuzzy-PID Controller10.22153/kej.2020.08.0011818-11712312-0789https://doaj.org/article/dc220351a67641e3996d217760338e292020-09-01T00:00:00Zhttp://alkej.uobaghdad.edu.iq/index.php/alkej/article/view/710https://doaj.org/toc/1818-1171https://doaj.org/toc/2312-0789 This paper presents the design of a longitudinal controller for an autonomous unmanned aerial vehicle (UAV). This paper proposed the dual loop (inner-outer loop) control based on the intelligent algorithm. The inner feedback loop controller is a Linear Quadratic Regulator (LQR) to provide robust (adaptive) stability. In contrast, the outer loop controller is based on Fuzzy-PID (Proportional, Integral, and Derivative) algorithm to provide reference signal tracking. The proposed dual controller is to control the position (altitude) and velocity (airspeed) of an aircraft. An adaptive Unscented Kalman Filter (AUKF) is employed to track the reference signal and is decreased the Gaussian noise. The mathematical model of aircraft has been (Cessna 172) presented. The stability and robustness of the system have been verified in a simulation experiment. Malik M. A. Al-IsawiAdnan J. AttiyaJulius O. ADOGHEAl-Khwarizmi College of Engineering – University of BaghdadarticleChemical engineeringTP155-156Engineering (General). Civil engineering (General)TA1-2040ENAl-Khawarizmi Engineering Journal, Vol 16, Iss 3 (2020)
institution	DOAJ
collection	DOAJ
language	EN
topic	Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040
spellingShingle	Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040 Malik M. A. Al-Isawi Adnan J. Attiya Julius O. ADOGHE UAV Control Based on Dual LQR and Fuzzy-PID Controller
description	This paper presents the design of a longitudinal controller for an autonomous unmanned aerial vehicle (UAV). This paper proposed the dual loop (inner-outer loop) control based on the intelligent algorithm. The inner feedback loop controller is a Linear Quadratic Regulator (LQR) to provide robust (adaptive) stability. In contrast, the outer loop controller is based on Fuzzy-PID (Proportional, Integral, and Derivative) algorithm to provide reference signal tracking. The proposed dual controller is to control the position (altitude) and velocity (airspeed) of an aircraft. An adaptive Unscented Kalman Filter (AUKF) is employed to track the reference signal and is decreased the Gaussian noise. The mathematical model of aircraft has been (Cessna 172) presented. The stability and robustness of the system have been verified in a simulation experiment.
format	article
author	Malik M. A. Al-Isawi Adnan J. Attiya Julius O. ADOGHE
author_facet	Malik M. A. Al-Isawi Adnan J. Attiya Julius O. ADOGHE
author_sort	Malik M. A. Al-Isawi
title	UAV Control Based on Dual LQR and Fuzzy-PID Controller
title_short	UAV Control Based on Dual LQR and Fuzzy-PID Controller
title_full	UAV Control Based on Dual LQR and Fuzzy-PID Controller
title_fullStr	UAV Control Based on Dual LQR and Fuzzy-PID Controller
title_full_unstemmed	UAV Control Based on Dual LQR and Fuzzy-PID Controller
title_sort	uav control based on dual lqr and fuzzy-pid controller
publisher	Al-Khwarizmi College of Engineering – University of Baghdad
publishDate	2020
url	https://doaj.org/article/dc220351a67641e3996d217760338e29
work_keys_str_mv	AT malikmaalisawi uavcontrolbasedonduallqrandfuzzypidcontroller AT adnanjattiya uavcontrolbasedonduallqrandfuzzypidcontroller AT juliusoadoghe uavcontrolbasedonduallqrandfuzzypidcontroller
_version_	1718398153744449536

UAV Control Based on Dual LQR and Fuzzy-PID Controller

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