Attitude and Altitude Control of Trirotor UAV by Using Adaptive Hybrid Controller

<table class="table-group" id="tab4"><tr><td><table class="table"><tr><td class="thead-hr" colspan="6"><hr/></td></tr><tr class="thead"><td class="align_left" rowspan="2"><span style="width: 29.8116ptpx;"><svg height="11.439pt" id="M94" style="vertical-align:-2.15067pt" version="1.1" viewbox="-0.0498162 -9.28833 29.8116 11.439" width="29.8116pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M530 686C535 705 530 712 521 712C504 712 448 684 359 674L358 648H393C437 648 439 646 429 593L400 435C372 447 345 448 332 448C286 448 194 414 144 373C68 311 23 203 23 111C23 26 57 -12 91 -12C120 -12 147 3 188 29C227 54 290 102 341 170H343L322 71C308 6 320 -12 341 -12C373 -12 442 27 501 96L485 120C455 91 422 67 408 67C401 67 401 76 404 91C440 294 479 473 530 686ZM387 375L355 241C326 187 200 53 142 53C126 53 109 73 109 130C109 217 154 337 218 381C240 396 265 404 297 404S372 390 387 375Z" id="g113-101"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="555" vert-adv-y="555"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,7.215,0)"><path d="M391 364C391 409 353 448 295 448C249 448 198 426 152 393C65 331 23 225 23 139C23 14 96 -12 146 -12C198 -12 280 9 367 101L351 124C300 78 242 48 194 48C129 48 109 107 109 162V191C208 213 391 266 391 364ZM313 350C313 305 268 261 113 223C132 334 187 381 217 398C227 404 244 405 261 405C290 405 313 385 313 350Z" id="g113-102"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="414" vert-adv-y="414"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,12.598,0)"><path d="M368 703H309L44 -163H104L368 703Z" id="g113-48"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="412" vert-adv-y="412"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,17.959,0)"><path d="M530 686C535 705 530 712 521 712C504 712 448 684 359 674L358 648H393C437 648 439 646 429 593L400 435C372 447 345 448 332 448C286 448 194 414 144 373C68 311 23 203 23 111C23 26 57 -12 91 -12C120 -12 147 3 188 29C227 54 290 102 341 170H343L322 71C308 6 320 -12 341 -12C373 -12 442 27 501 96L485 120C455 91 422 67 408 67C401 67 401 76 404 91C440 294 479 473 530 686ZM387 375L355 241C326 187 200 53 142 53C126 53 109 73 109 130C109 217 154 337 218 381C240 396 265 404 297 404S372 390 387 375Z" id="g113-101"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="555" vert-adv-y="555"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,25.174,0)"><path d="M324 430H196L233 583L223 592L145 529L120 430H54L29 396L31 388H111L56 126C33 15 54 -12 77 -12C137 -12 214 57 250 95L233 119C208 92 155 59 138 59C126 59 120 70 131 125L186 390L298 394L324 430Z" id="g113-117"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="341" vert-adv-y="341"></glyph.data></g></svg></span></td><td class="align_center" colspan="5">Error</td></tr><tr class="thead"><td class="align_center">NEB</td><td class="align_center">NES</td><td class="align_center">ZER</td><td class="align_center">PSS</td><td class="align_center">PSB</td></tr><tr><td class="thead-hr" colspan="6"><hr/></td></tr><tr><td class="align_left">NEB</td><td class="align_center">ZER</td><td class="align_center">PSS</td><td class="align_center">PSS</td><td class="align_center">PSS</td><td class="align_center">ZER</td></tr><tr><td class="align_left">NES</td><td class="align_center">PSS</td><td class="align_center">PSS</td><td class="align_center">PSM</td><td class="align_center">PSS</td><td class="align_center">PSS</td></tr><tr><td class="align_left">ZER</td><td class="align_center">PSM</td><td class="align_center">PSS</td><td class="align_center">PSM</td><td class="align_center">PSM</td><td class="align_center">PSM</td></tr><tr><td class="align_left">PSS</td><td class="align_center">PSM</td><td class="align_center">PSM</td><td class="align_center">PSM</td><td class="align_center">PSS</td><td class="align_center">PSL</td></tr><tr><td class="align_left">PSB</td><td class="align_center">PSL</td><td class="align_center">PSM</td><td class="align_center">PSM</td><td class="align_center">PSS</td><td class="align_center">PSL</td></tr><tr class="table-tr"><td colspan="6"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

If-then rule of fuzzy logic controller for <svg height="11.8174pt" id="M93" style="vertical-align:-3.1815pt" version="1.1" viewbox="-0.0498162 -8.6359 15.7539 11.8174" width="15.7539pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M743 650H503L496 622L527 618C563 613 564 603 532 573C449 495 371 431 323 392C301 374 272 355 246 346L280 522C297 609 300 614 379 622L385 650H135L129 622C209 614 215 609 198 522L124 133C106 39 99 35 23 28L17 0H271L277 28C193 35 192 39 208 133L239 316C264 328 280 325 303 288C368 183 435 90 502 0H652L659 28C602 34 584 43 543 94C495 154 403 283 347 369L574 554C634 603 659 612 735 624L743 650Z" id="g113-76"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="755" vert-adv-y="755"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,9.23,3.132)"><path d="M655 676H628C608 656 600 650 571 650H156C118 650 114 651 102 676H77C63 615 45 548 24 485L60 486C81 531 97 562 114 580C134 603 148 611 252 611H308L217 127C201 41 196 38 105 32L98 0H384L393 32C300 38 288 41 304 127L393 611H466C553 611 571 604 582 580C592 559 597 530 595 485L630 489C636 548 645 624 655 676Z" id="g50-85"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="673" vert-adv-y="673"></glyph.data></g></svg>.

Journal of Control Science and Engineering

tab4

Table 4

Table 4: Attitude and Altitude Control of Trirotor UAV by Using Adaptive Hybrid Controller 