dc.contributor.authorFu, Changhong
dc.contributor.authorSarabakha, Andriy
dc.contributor.authorKayacan, Erdal
dc.contributor.authorWagner, Christian
dc.contributor.authorJohn, Robert
dc.contributor.authorGaribaldi, Jonathan M.
dc.identifier.citationFu, C., Sarabakha, A., Kayacan, E., Wagner, C., John, R., & Garibaldi, J. M. (2016). A Comparative Study on the Control of Quadcopter UAVs by using Singleton and Non-Singleton Fuzzy Logic Controllers. 2016 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE), 1-8.en_US
dc.description.abstractFuzzy logic controllers (FLCs) have extensively been used for the autonomous control and guidance of unmanned aerial vehicles (UAVs) due to their capability of handling uncertainties and delivering adequate control without the need for a precise, mathematical system model which is often either unavailable or highly costly to develop. Despite the fact that non-singleton FLCs (NSFLCs) have shown more promising performance in several applications when compared to their singleton counterparts (SFLCs), most of UAV applications are still realized by using SFLCs. In this paper, we explore the potential of both standard and the recently introduced centroid based NSFLCs, i.e., Sta-NSFLC and Cen-NSFLC, for the control of a quadcopter UAV under various input noise conditions using different levels of fuzzifier, and a comparative study has been conducted using the three aforementioned FLCs. We present a series of simulation-based experiments, the simulation results show that the control performances of NSFLCs are better than those of SFLC, and the Cen-NSFLC outperforms the Sta-NSLFC especially under highly noisy conditions.en_US
dc.format.extent8 p.en_US
dc.rights© 2016 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 reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.en_US
dc.subjectfuzzy logic controllersen_US
dc.subjectunmanned aerial vehiclesen_US
dc.titleA Comparative Study on the Control of Quadcopter UAVs by using Singleton and Non-Singleton Fuzzy Logic Controllersen_US
dc.typeConference Paper
dc.contributor.conference2016 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)en_US
dc.contributor.researchST Engineering-NTU Corporate Laben_US
dc.contributor.schoolSchool of Mechanical and Aerospace Engineeringen_US
dc.description.versionAccepted versionen_US

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