A robust hybrid of a feedback linearization technique and an interval type-2 fuzzy control system for the flapping angle dynamics of a biomimetic aircraft

Fendy Santoso, Matthew A. Garratt, Sreenatha G. Anavatti

Research output: Contribution to journalArticlepeer-review

6 Citations (Scopus)

Abstract

We introduce a new configuration of a robust and adaptive autopilot system for a model-scale flapping-wing aircraft. The system is specifically designed to achieve high performance flapping angle tracking in the face of large uncertainties. To describe the dynamics of the system, we leverage the benefits of both first principle modeling and data-driven approach (system identification technique). We introduce a high-performance robust and adaptive nonlinear control system by means of a feedback linearization (FL) technique, supported with an interval Type-2 fuzzy system due to its ability to accommodate the footprint-of-uncertainties (FoUs). While the first stage of our nonlinear control system is to cancel some predictable nonlinearities using an FL technique, the second phase of control is to accommodate the existing uncertainties in the system by way of an interval Type-2 fuzzy control technique, e.g., due to imperfect cancelation and modeling errors. This way, the stability and the robustness of the closed-loop control system can be guaranteed. We quantify the relative merit of our hybrid control system with respect to an FL technique, supported with a fixed gain state feedback controller and a Type-1 fuzzy system. Lastly, we also conduct stability analysis of the overall closed-loop control system.

Original languageEnglish
Article number8936561
Pages (from-to)5664-5673
Number of pages10
JournalIEEE Transactions on Systems, Man, and Cybernetics: Systems
Volume51
Issue number9
Early online date18 Dec 2019
DOIs
Publication statusPublished - Sept 2021

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