UAV Power Line Tracking Control Based on a Type-2 Fuzzy-PID Approach

Robotics, Journal Year: 2023, Volume and Issue: 12(2), P. 60 - 60

Published: April 20, 2023

A challenge for inspecting transmission power lines with Unmanned Aerial Vehicles (UAVs) is to precisely determine their position and orientation, considering that the geo-location of these elements via GPS often needs be more consistent. Therefore, a viable alternative use visual information from cameras attached central part UAV, enabling control technique allows positioned at center image. this work proposes PID (proportional–integral–derivative) controller tuned through interval type-2 fuzzy logic (IT2_PID) line follower problem. The gains are selected online as orientation errors respective derivatives change. methodology was built in Python Robot Operating System (ROS) interface. key point proposed its easy reproducibility, since designed loop does not require mathematical model UAV. tests were performed using Gazebo simulator. outcomes demonstrated variant displayed lower error values both stabilization (keeping UAV centered oriented lines) following step which trajectory time-variant, compared analogous T1_PID classical by Zigler–Nichols method.

Language: Английский

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A hybrid robust model reference adaptive controller and proportional integral controller without reference model for partially modeled systems

International Journal of Adaptive Control and Signal Processing, Journal Year: 2023, Volume and Issue: 37(8), P. 2113 - 2132

Published: May 21, 2023

Summary This work presents the discrete‐time stability analysis of a hybrid robust model reference adaptive controller and proportional‐integral (MRAC‐PI) using Lyapunov criterion. The control structure merges classical PI with control, resulting in an strategy, where gains unite both techniques unique it does not require design model, being able to track straightforwardly signal. are updated continuously by modified gradient algorithm regarding action, regulation error, system output. provides constraints, while also demonstrate tendency error residual set, proves boundedness all closed‐loop signals. Furthermore, as is unmodeled dynamics, feasible partially modeled systems. Simulation results real‐world engineering application presented corroborate robustness this show its fast response face critical exogenous perturbations.

Language: Английский

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PID Control Optimization Based on MDE-RBF Hybrid Algorithm and Its Application in Controlling Vibrations in Avionics

Journal of Vibration Engineering & Technologies, Journal Year: 2025, Volume and Issue: 13(1)

Published: Jan. 1, 2025

Language: Английский

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Prescribed performance tracking control for electro-hydraulic systems with output constraints and valve dynamics compensation

Nonlinear Dynamics, Journal Year: 2025, Volume and Issue: unknown

Published: Jan. 30, 2025

Language: Английский

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Tile detection using mask R-CNN in non-structural environment for robotic tiling

Automation in Construction, Journal Year: 2025, Volume and Issue: 171, P. 106010 - 106010

Published: Jan. 31, 2025

Language: Английский

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