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Robust Nonlinear Fuzzy Formation Control of Unmanned Quadrotors

International Journal of Computer Applications
Foundation of Computer Science (FCS), NY, USA
Year of Publication: 2017
Meisam Khakshour, Nima Nourani

Meisam Khakshour and Nima Nourani. Robust Nonlinear Fuzzy Formation Control of Unmanned Quadrotors. International Journal of Computer Applications 172(7):18-24, August 2017. BibTeX

	author = {Meisam Khakshour and Nima Nourani},
	title = {Robust Nonlinear Fuzzy Formation Control of Unmanned Quadrotors},
	journal = {International Journal of Computer Applications},
	issue_date = {August 2017},
	volume = {172},
	number = {7},
	month = {Aug},
	year = {2017},
	issn = {0975-8887},
	pages = {18-24},
	numpages = {7},
	url = {},
	doi = {10.5120/ijca2017915179},
	publisher = {Foundation of Computer Science (FCS), NY, USA},
	address = {New York, USA}


A novel leader-following strategy based on fuzzy logic is introduced to design a formation flight controller for unmanned quadrotors. The proposed strategy uses particle swarm optimization (PSO) to optimize the fuzzy membership function in the guidance law, and a nonlinear dynamic inversion (NDI) controller is designed to control the nonlinear dynamics of the quadrotor. The simulation results show the proposed method has significant advantages in comparison with conventional leading-following strategies in terms of robustness against wind gusts, uncertainties, and unknown dynamics.


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Nonlinear control, Intelligent systems, UAV, Optimization.