Single-Input Fuzzy-Sliding Mode Control for an Underactuated Quadrotor Craft

Ghulam E.Mustafa Abro; Vijanth Sagayan Asirvadam; Saiful A. Zulkifli

doi:10.1109/IICAIET49801.2020.9257830

Single-Input Fuzzy-Sliding Mode Control for an Underactuated Quadrotor Craft

Ghulam E.Mustafa Abro, Vijanth Sagayan Asirvadam, Saiful A. Zulkifli

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

9 Scopus citations

Abstract

This work presents performance analysis between conventional fuzzy-based sliding mode control (F-SMC) and single-dimension fuzzy-sliding mode control (SDF-SMC) for an underactuated quadrotor craft. It has been observed that fuzzy logic control (FLC) can resolve various issues of sliding mode controller (SMC) for the quadrotor, such as reduction in chattering noise or Zeno phenomenon. However, FLC increases required computational power and processing time, which directly rely on the list of rules defined for the FLC. These rules trigger the gains of the SMC. This paper presents an approach to convert the conventional FLC two-dimensional rule-based table into a single-dimension table, leading to a control algorithm referred to as single-input fuzzy-sliding mode control. Numerical simulation work has been implemented on MATLAB-Simulink software, which demonstrates the same control performance of the SDF-SMC as the conventional F-SMC, but with the improvement of reduced computational power and processing time.

Original language	English
Title of host publication	IEEE International Conference on Artificial Intelligence in Engineering and Technology, IICAIET 2020
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781728169460
DOIs	https://doi.org/10.1109/IICAIET49801.2020.9257830
State	Published - 26 Sep 2020
Externally published	Yes
Event	2020 IEEE International Conference on Artificial Intelligence in Engineering and Technology, IICAIET 2020 - Kota Kinabalu, Sabah, Malaysia Duration: 26 Sep 2020 → 27 Sep 2020

Publication series

Name	IEEE International Conference on Artificial Intelligence in Engineering and Technology, IICAIET 2020

Conference

Conference	2020 IEEE International Conference on Artificial Intelligence in Engineering and Technology, IICAIET 2020
Country/Territory	Malaysia
City	Kota Kinabalu, Sabah
Period	26/09/20 → 27/09/20

Bibliographical note

Publisher Copyright:
© 2020 IEEE.

Keywords

Underactuated quadrotor
fuzzy-sliding mode control
single-input fuzzy

ASJC Scopus subject areas

Artificial Intelligence
Computer Networks and Communications
Computer Science Applications
Computer Vision and Pattern Recognition
Signal Processing
Information Systems and Management
Instrumentation

Access to Document

10.1109/IICAIET49801.2020.9257830

Cite this

Abro, G. E. M., Asirvadam, V. S., & Zulkifli, S. A. (2020). Single-Input Fuzzy-Sliding Mode Control for an Underactuated Quadrotor Craft. In IEEE International Conference on Artificial Intelligence in Engineering and Technology, IICAIET 2020 Article 9257830 (IEEE International Conference on Artificial Intelligence in Engineering and Technology, IICAIET 2020). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IICAIET49801.2020.9257830

Abro, Ghulam E.Mustafa ; Asirvadam, Vijanth Sagayan ; Zulkifli, Saiful A. / Single-Input Fuzzy-Sliding Mode Control for an Underactuated Quadrotor Craft. IEEE International Conference on Artificial Intelligence in Engineering and Technology, IICAIET 2020. Institute of Electrical and Electronics Engineers Inc., 2020. (IEEE International Conference on Artificial Intelligence in Engineering and Technology, IICAIET 2020).

@inproceedings{1897c6bfc65b4d76ba5c5969433c6e7e,

title = "Single-Input Fuzzy-Sliding Mode Control for an Underactuated Quadrotor Craft",

abstract = "This work presents performance analysis between conventional fuzzy-based sliding mode control (F-SMC) and single-dimension fuzzy-sliding mode control (SDF-SMC) for an underactuated quadrotor craft. It has been observed that fuzzy logic control (FLC) can resolve various issues of sliding mode controller (SMC) for the quadrotor, such as reduction in chattering noise or Zeno phenomenon. However, FLC increases required computational power and processing time, which directly rely on the list of rules defined for the FLC. These rules trigger the gains of the SMC. This paper presents an approach to convert the conventional FLC two-dimensional rule-based table into a single-dimension table, leading to a control algorithm referred to as single-input fuzzy-sliding mode control. Numerical simulation work has been implemented on MATLAB-Simulink software, which demonstrates the same control performance of the SDF-SMC as the conventional F-SMC, but with the improvement of reduced computational power and processing time.",

keywords = "Underactuated quadrotor, fuzzy-sliding mode control, single-input fuzzy",

author = "Abro, \{Ghulam E.Mustafa\} and Asirvadam, \{Vijanth Sagayan\} and Zulkifli, \{Saiful A.\}",

note = "Publisher Copyright: {\textcopyright} 2020 IEEE.; 2020 IEEE International Conference on Artificial Intelligence in Engineering and Technology, IICAIET 2020 ; Conference date: 26-09-2020 Through 27-09-2020",

year = "2020",

month = sep,

day = "26",

doi = "10.1109/IICAIET49801.2020.9257830",

language = "English",

series = "IEEE International Conference on Artificial Intelligence in Engineering and Technology, IICAIET 2020",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

booktitle = "IEEE International Conference on Artificial Intelligence in Engineering and Technology, IICAIET 2020",

address = "United States",

}

Abro, GEM, Asirvadam, VS & Zulkifli, SA 2020, Single-Input Fuzzy-Sliding Mode Control for an Underactuated Quadrotor Craft. in IEEE International Conference on Artificial Intelligence in Engineering and Technology, IICAIET 2020., 9257830, IEEE International Conference on Artificial Intelligence in Engineering and Technology, IICAIET 2020, Institute of Electrical and Electronics Engineers Inc., 2020 IEEE International Conference on Artificial Intelligence in Engineering and Technology, IICAIET 2020, Kota Kinabalu, Sabah, Malaysia, 26/09/20. https://doi.org/10.1109/IICAIET49801.2020.9257830

Single-Input Fuzzy-Sliding Mode Control for an Underactuated Quadrotor Craft. / Abro, Ghulam E.Mustafa; Asirvadam, Vijanth Sagayan; Zulkifli, Saiful A.
IEEE International Conference on Artificial Intelligence in Engineering and Technology, IICAIET 2020. Institute of Electrical and Electronics Engineers Inc., 2020. 9257830 (IEEE International Conference on Artificial Intelligence in Engineering and Technology, IICAIET 2020).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Single-Input Fuzzy-Sliding Mode Control for an Underactuated Quadrotor Craft

AU - Abro, Ghulam E.Mustafa

AU - Asirvadam, Vijanth Sagayan

AU - Zulkifli, Saiful A.

PY - 2020/9/26

Y1 - 2020/9/26

N2 - This work presents performance analysis between conventional fuzzy-based sliding mode control (F-SMC) and single-dimension fuzzy-sliding mode control (SDF-SMC) for an underactuated quadrotor craft. It has been observed that fuzzy logic control (FLC) can resolve various issues of sliding mode controller (SMC) for the quadrotor, such as reduction in chattering noise or Zeno phenomenon. However, FLC increases required computational power and processing time, which directly rely on the list of rules defined for the FLC. These rules trigger the gains of the SMC. This paper presents an approach to convert the conventional FLC two-dimensional rule-based table into a single-dimension table, leading to a control algorithm referred to as single-input fuzzy-sliding mode control. Numerical simulation work has been implemented on MATLAB-Simulink software, which demonstrates the same control performance of the SDF-SMC as the conventional F-SMC, but with the improvement of reduced computational power and processing time.

AB - This work presents performance analysis between conventional fuzzy-based sliding mode control (F-SMC) and single-dimension fuzzy-sliding mode control (SDF-SMC) for an underactuated quadrotor craft. It has been observed that fuzzy logic control (FLC) can resolve various issues of sliding mode controller (SMC) for the quadrotor, such as reduction in chattering noise or Zeno phenomenon. However, FLC increases required computational power and processing time, which directly rely on the list of rules defined for the FLC. These rules trigger the gains of the SMC. This paper presents an approach to convert the conventional FLC two-dimensional rule-based table into a single-dimension table, leading to a control algorithm referred to as single-input fuzzy-sliding mode control. Numerical simulation work has been implemented on MATLAB-Simulink software, which demonstrates the same control performance of the SDF-SMC as the conventional F-SMC, but with the improvement of reduced computational power and processing time.

KW - Underactuated quadrotor

KW - fuzzy-sliding mode control

KW - single-input fuzzy

UR - https://www.scopus.com/pages/publications/85098082991

U2 - 10.1109/IICAIET49801.2020.9257830

DO - 10.1109/IICAIET49801.2020.9257830

M3 - Conference contribution

AN - SCOPUS:85098082991

T3 - IEEE International Conference on Artificial Intelligence in Engineering and Technology, IICAIET 2020

BT - IEEE International Conference on Artificial Intelligence in Engineering and Technology, IICAIET 2020

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2020 IEEE International Conference on Artificial Intelligence in Engineering and Technology, IICAIET 2020

Y2 - 26 September 2020 through 27 September 2020

ER -

Abro GEM, Asirvadam VS, Zulkifli SA. Single-Input Fuzzy-Sliding Mode Control for an Underactuated Quadrotor Craft. In IEEE International Conference on Artificial Intelligence in Engineering and Technology, IICAIET 2020. Institute of Electrical and Electronics Engineers Inc. 2020. 9257830. (IEEE International Conference on Artificial Intelligence in Engineering and Technology, IICAIET 2020). doi: 10.1109/IICAIET49801.2020.9257830

Single-Input Fuzzy-Sliding Mode Control for an Underactuated Quadrotor Craft

Abstract

Publication series

Conference

Bibliographical note

Keywords

ASJC Scopus subject areas

Access to Document

Fingerprint

Cite this