Purpose

This paper aims to propose a composite form of the robust disturbance fuzzy control scheme. The proposed method uses the benefits of fuzzy system modeling and Lyapunov direct methods.

Design/methodology/approach

The effciency of the control technique was demonstrated with assistance of numerical simulation in control problems of unmanned aerial vehicle (UAV) simulation.

Findings

To evaluate the control performance, the comparison of the proposed controller was made with conventional control techniques. The Lyapunov stability theorem has been used to testify for asymptotic stability and convergence of the closed loop system.

Practical implications

Implementation of the control law in the real world environment can be easier due to significant reduction in the fuzzy rules, tuning parameters and computation stages.

Originality/value

Simulation results confirm that the proposed control scheme performs remarkably well in terms of the robustness and disturbance attenuation.

中文翻译：

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具有时间延迟的无人机系统的复合控制

目的

本文旨在提出一种鲁棒干扰模糊控制方案的复合形式。所提出的方法利用了模糊系统建模和Lyapunov直接方法的优点。

设计/方法/方法

在数值模拟的帮助下，证明了控制技术的有效性。

发现

为了评估控制性能，将所提出的控制器与常规控制技术进行了比较。Lyapunov稳定性定理已用于证明闭环系统的渐近稳定性和收敛性。

实际影响

由于显着减少了模糊规则，调整参数和计算阶段，因此在现实世界环境中实施控制定律会更加容易。

创意/价值

仿真结果证实，所提出的控制方案在鲁棒性和干扰衰减方面表现出色。