A comparative study on the control of Quadcopter UAVs by using singleton and non-singleton fuzzy logic controllers
Fuzzy logic controllers (FLCs) have extensively been used for the autonomous control and guidance of unmanned aerial vehicles (UAVs) due to their capability of handling uncertainties and delivering adequate control without the need for a precise, mathematical system model which is often either unava...
| Main Authors: | , , , , , |
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| Format: | Conference or Workshop Item |
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2016
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| Online Access: | https://eprints.nottingham.ac.uk/44685/ |
| _version_ | 1848796974884585472 |
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| author | Fu, Changhong Sarabakha, Andriy Kayacan, Erdal Wagner, Christian John, Robert Garibaldi, Jonathan M. |
| author_facet | Fu, Changhong Sarabakha, Andriy Kayacan, Erdal Wagner, Christian John, Robert Garibaldi, Jonathan M. |
| author_sort | Fu, Changhong |
| building | Nottingham Research Data Repository |
| collection | Online Access |
| description | Fuzzy logic controllers (FLCs) have extensively been used for the autonomous control and guidance of unmanned aerial vehicles (UAVs) due to their capability of handling uncertainties and delivering adequate control without the need for a precise, mathematical system model which is often either unavailable or highly costly to develop. Despite the fact that non-singleton FLCs (NSFLCs) have shown more promising performance in several applications when compared to their singleton counterparts (SFLCs), most of UAV applications are still realized by using SFLCs. In this paper, we explore the potential of both standard and the recently introduced centroid based NSFLCs, i.e., Sta-NSFLC and Cen-NSFLC, for the control of a quadcopter UAV under various input noise conditions using different levels of fuzzifier, and a comparative study has been conducted using the three aforementioned FLCs. We present a series of simulation-based experiments, the simulation results show that the control performances of NSFLCs are better than those of SFLC, and the Cen-NSFLC outperforms the Sta-NSFLC especially under highly noisy conditions. |
| first_indexed | 2025-11-14T19:56:31Z |
| format | Conference or Workshop Item |
| id | nottingham-44685 |
| institution | University of Nottingham Malaysia Campus |
| institution_category | Local University |
| last_indexed | 2025-11-14T19:56:31Z |
| publishDate | 2016 |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | nottingham-446852020-05-04T18:21:32Z https://eprints.nottingham.ac.uk/44685/ A comparative study on the control of Quadcopter UAVs by using singleton and non-singleton fuzzy logic controllers Fu, Changhong Sarabakha, Andriy Kayacan, Erdal Wagner, Christian John, Robert Garibaldi, Jonathan M. Fuzzy logic controllers (FLCs) have extensively been used for the autonomous control and guidance of unmanned aerial vehicles (UAVs) due to their capability of handling uncertainties and delivering adequate control without the need for a precise, mathematical system model which is often either unavailable or highly costly to develop. Despite the fact that non-singleton FLCs (NSFLCs) have shown more promising performance in several applications when compared to their singleton counterparts (SFLCs), most of UAV applications are still realized by using SFLCs. In this paper, we explore the potential of both standard and the recently introduced centroid based NSFLCs, i.e., Sta-NSFLC and Cen-NSFLC, for the control of a quadcopter UAV under various input noise conditions using different levels of fuzzifier, and a comparative study has been conducted using the three aforementioned FLCs. We present a series of simulation-based experiments, the simulation results show that the control performances of NSFLCs are better than those of SFLC, and the Cen-NSFLC outperforms the Sta-NSFLC especially under highly noisy conditions. 2016-11-10 Conference or Workshop Item PeerReviewed Fu, Changhong, Sarabakha, Andriy, Kayacan, Erdal, Wagner, Christian, John, Robert and Garibaldi, Jonathan M. (2016) A comparative study on the control of Quadcopter UAVs by using singleton and non-singleton fuzzy logic controllers. In: 2016 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE 2016), 24-29 Jul 2016, Vancouver, Canada. Uncertainty Mathematical model Standards Unmanned aerial vehicles Propellers Engines Fuzzy sets http://ieeexplore.ieee.org/document/7737800/ |
| spellingShingle | Uncertainty Mathematical model Standards Unmanned aerial vehicles Propellers Engines Fuzzy sets Fu, Changhong Sarabakha, Andriy Kayacan, Erdal Wagner, Christian John, Robert Garibaldi, Jonathan M. A comparative study on the control of Quadcopter UAVs by using singleton and non-singleton fuzzy logic controllers |
| title | A comparative study on the control of Quadcopter UAVs by using singleton and non-singleton fuzzy logic controllers |
| title_full | A comparative study on the control of Quadcopter UAVs by using singleton and non-singleton fuzzy logic controllers |
| title_fullStr | A comparative study on the control of Quadcopter UAVs by using singleton and non-singleton fuzzy logic controllers |
| title_full_unstemmed | A comparative study on the control of Quadcopter UAVs by using singleton and non-singleton fuzzy logic controllers |
| title_short | A comparative study on the control of Quadcopter UAVs by using singleton and non-singleton fuzzy logic controllers |
| title_sort | comparative study on the control of quadcopter uavs by using singleton and non-singleton fuzzy logic controllers |
| topic | Uncertainty Mathematical model Standards Unmanned aerial vehicles Propellers Engines Fuzzy sets |
| url | https://eprints.nottingham.ac.uk/44685/ https://eprints.nottingham.ac.uk/44685/ |