Adaptive Intelligent Controller Design for a New Quadrotor Manipulation System

Abstract

This paper presents the design of two controllers namely, Direct Fuzzy Logic controller and Fuzzy Model Reference Learning Control applied to a new aerial manipulation system called "Quad rotor-Manipulator System". This system consists of 2-link manipulator connected to the bottom of a quad rotor. The dynamic model of this system is derived taking into account the effect of adding a payload to the manipulator. The performance of the proposed controllers are compared with that of the previously developed controller based on Feedback Linearization technique. All controllers are tested regarding their ability to stabilize the system and track desired trajectories under the effects of picking and placing a payload as well as changing the system operating region. Finally, the system equations of motion and the control laws are simulated using MATLAB/SIMULINK. The simulation results indicate the outstanding performance of the Fuzzy Model Reference Learning Control.