TY - JOUR A2 - Garcia, Carlos-Andrés AU - Ali, Zain Anwar AU - Wang, Daobo AU - Masroor, Suhaib AU - Loya, M. Shafiq PY - 2016 DA - 2016/06/29 TI - Attitude and Altitude Control of Trirotor UAV by Using Adaptive Hybrid Controller SP - 6459891 VL - 2016 AB - The paper presents an adaptive hybrid scheme which is based on fuzzy regulation, pole-placement, and tracking (RST) control algorithm for controlling the attitude and altitude of trirotor UAV. The dynamic and kinematic model of Unmanned Aerial Vehicle (UAV) is unstable and nonlinear in nature with 6 degrees of freedom (DOF); that is why the stabilization of aerial vehicle is a difficult task. To stabilize the nonlinear behavior of our UAV, an adaptive hybrid controller algorithm is used, in which RST controller tuning is performed by adaptive gains of fuzzy logic controller. Simulated results show that fuzzy based RST controller gives better robustness as compared to the classical RST controller. SN - 1687-5249 UR - https://doi.org/10.1155/2016/6459891 DO - 10.1155/2016/6459891 JF - Journal of Control Science and Engineering PB - Hindawi Publishing Corporation KW - ER -