Abstract
In this paper, a robust controller for a six degrees of freedom (6 DOF) octorotor helicopter control is proposed in presence of actuator and sensor faults. Neural networks (NN), interval type-2 fuzzy logic control (IT2FLC) approach and sliding mode control (SMC) technique are used to design a controller, named fault tolerant neural network interval type-2 fuzzy sliding mode controller (FTNNIT2FSMC), for each subsystem of the octorotor helicopter. The proposed control scheme allows avoiding difficult modeling, attenuating the chattering effect of the SMC, reducing the number of rules for the fuzzy controller, and guaranteeing the stability and the robustness of the system. The simulation results show that the FTNNIT2FSMC can greatly alleviate the chattering effect, tracking well in presence of actuator and sensor faults.
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Samir Zeghlache received the engineer degree from University of Msila, Algeria in 2006 and the magister diploma from Military Polytechnic School, Algeria in 2009, all in electrical engineering. In 2011, he joined Msila University, Algeria where he works currently as an associate professor. His current research interests include nonlinear system control.
Djamel Saigaa received his ingenious and magister degree from Setif University, Algeria in 1990 and 1993 respectively. He received his PhD in automatic and signal processing from Biskra University, Algeria. He is currently an associate professor at the Department of Electronics, University of MSila, Algeria. He has published many papers in international and national journals, and presented more than 18 papers at international and national conferences. His research interests include digital signal processing, artificial intelligence and biometric recognition systems.
Kamel Kara received his engineering diploma in electronics from the University of Setif, Algeria in 1992, the magister diploma in electronics from University of Constantine, Algeria in 1995, and doctoral degree from University of Setif, Algeria in 2006. He worked for higher institute of industry Misurata, Lybia as an associate lecturer, and since 1998 he has been employed by the University of Blida, Algeria where he holds the position of associate professor in signal processing, DSP and digital control. His current research interests are focused on nonlinear systems identification and control, artificial intelligence, heuristic optimization and embedded systems.
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Zeghlache, S., Saigaa, D. & Kara, K. Fault tolerant control based on neural network interval type-2 fuzzy sliding mode controller for octorotor UAV. Front. Comput. Sci. 10, 657–672 (2016). https://doi.org/10.1007/s11704-015-4448-8
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DOI: https://doi.org/10.1007/s11704-015-4448-8