Title: Intelligent block spectral factors relocation in a quadrotor unmanned aerial vehicle

Authors: Belkacem Bekhiti; Abdelhakim Dahimene; Kamel Hariche; Bachir Nail

Addresses: Electronics and Electrotechnics Institute (ex: INELEC), University of Boumerdes, Algeria ' Signal and System Laboratory, Electronics and Electrotechnics Institute (IGEE ex: INELEC), University of Boumerdes, Algeria ' Electronics and Electrotechnics Institute (ex: INELEC), University of Boumerdes, Algeria ' The Applied Automation and Industrial Diagnostics Laboratory (LAADI), Science and Technology Department, University of Ziane Achour, Algeria

Abstract: In the present work, we have proposed a new intelligent design procedure, which will achieve the desired latent-structure specifications via the relocation of spectral factors. The method proposed here allows the assignment of the whole set of latent values/vectors obtained from a desired eigenstructure. The quadrotor robot is a quite complex dynamical coupled nonlinear system, then in order to apply the MIMO linear compensation theory and avoiding the complexity of nonlinear control design we have firstly linearised the plant via a state feedback controller and thereafter a regulation and trajectory tracking problems are accurately treated via block pole placement based on the design of MIMO adaptive neuro-fuzzy compensation.

Keywords: quadrotor robot; MIMO compensator; block pole placement; feedback linearisation; latent structure.

DOI: 10.1504/IJSCC.2017.087144

International Journal of Systems, Control and Communications, 2017 Vol.8 No.4, pp.303 - 334

Received: 22 Jul 2016
Accepted: 10 Mar 2017

Published online: 06 Oct 2017 *

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