Skip to main content

Research Repository

See what's under the surface

Advanced Search

Input uncertainty sensitivity enhanced non-singleton fuzzy logic controllers for long-term navigation of quadrotor UAVs

Fu, Changhong; Sarabakha, Andriy; Kayacan, Erdal; Wagner, Christian; John, Robert; Garibaldi, Jonathan M.

Authors

Changhong Fu

Andriy Sarabakha

Erdal Kayacan

Christian Wagner

Robert John robert.john@nottingham.ac.uk

Jonathan M. Garibaldi



Abstract

Input uncertainty, e.g., noise on the on-board camera and inertial measurement unit, in vision-based control of unmanned aerial vehicles (UAVs) is an inevitable problem. In order to handle input uncertainties as well as further analyze the interaction between the input and the antecedent fuzzy sets (FSs) of non-singleton fuzzy logic controllers (NSFLCs), an input uncertainty sensitivity enhanced NSFLC has been developed in robot operating system (ROS) using the C++ programming language. Based on recent advances in non-singleton inference, the centroid of the intersection of the input and antecedent FSs (Cen-NSFLC) is utilized to calculate the firing strength of each rule instead of the maximum of the intersection used in traditional NSFLC (Tra-NSFLC). An 8-shaped trajectory, consisting of straight and curved lines, is used for the real-time validation of the proposed controllers for a trajectory following problem. An accurate monocular keyframe-based visual-inertial simultaneous localization and mapping (SLAM) approach is used to estimate the position of the quadrotor UAV in GPS denied unknown environments. The performance of the Cen-NSFLC is compared with a conventional proportional integral derivative (PID) controller, a singleton FLC (SFLC) and a Tra-NSFLC. All controllers are evaluated for different flight speeds, thus introducing different levels of uncertainty into the control problem. Visual-inertial SLAM-based real time quadrotor UAV flight tests demonstrate that not only does the Cen-NSFLC achieve the best control performance among the four controllers, but it also shows better control performance when compared to their singleton counterparts. Considering the bias in the use of model based controllers, e.g. PID, for the control of UAVs, this paper advocates an alternative method, namely Cen-NSFLCs, in uncertain working environments.

Journal Article Type Article
Publication Date Apr 30, 2018
Journal IEEE/ASME Transactions on Mechatronics
Print ISSN 1083-4435
Electronic ISSN 1083-4435
Publisher Institute of Electrical and Electronics Engineers
Peer Reviewed Peer Reviewed
Volume 23
Issue 2
APA6 Citation Fu, C., Sarabakha, A., Kayacan, E., Wagner, C., John, R., & Garibaldi, J. M. (2018). Input uncertainty sensitivity enhanced non-singleton fuzzy logic controllers for long-term navigation of quadrotor UAVs. IEEE/ASME Transactions on Mechatronics, 23(2), doi:10.1109/TMECH.2018.2810947
DOI https://doi.org/10.1109/TMECH.2018.2810947
Publisher URL http://ieeexplore.ieee.org/document/8304792/
Copyright Statement Copyright information regarding this work can be found at the following address: http://eprints.nottingh.../end_user_agreement.pdf
Additional Information ©2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprint/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any cpyrighted component of this work in other works.

Files

Input Uncertainty Sensitivity Cen-NSFLC.pdf (3.2 Mb)
PDF

Copyright Statement
Copyright information regarding this work can be found at the following address: http://eprints.nottingham.ac.uk/end_user_agreement.pdf





You might also like



Downloadable Citations

;