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Inverse Model Control for a Quad-rotor Aircraft Using TS-fuzzy Support Vector Regression |
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| Authors: | Zhiyu Li Hanxin Chen Congqing Wang Kaijia Xue |
| Affiliation: | Institute of Unmanned Aircraft Research, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China,College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China,College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China and College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China |
| Abstract: | An inverse model control based on TS-fuzzy support vector regression (TS-fuzzy SVR) for a quad-rotor aircraft is developed. The TS-kernel is the product of linear combination of input and a cluster of output corresponding to a cluster of TS-type fuzzy rules. The output of TS-fuzzy SVR is a linear weighted sum of the TS-kernels. The dynamical model of the quad-rotor aircraft is derived. A new control scheme combined with TS-fuzzy SVR inverse model control and PID control is presented so that the TS-fuzzy SVR inverse model control enhances capabilities of disturbance rejection and the robustness while the PID control enhances fast responsiveness and reliability of the system. Simulation results show the capabilities of the developed control for the attitude system of quad-rotor aircraft. |
| Keywords: | support vector regression TS-fuzzy SVR inverse model control quad-rotor aircraft attitude control |
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