Trajectory tracking control of a coaxial rotor drone: Time-delay estimation-based optimal model-free fuzzy logic approach
Abstract
This paper proposes a control algorithm for controlling the position and attitude of a coaxial rotor drone without knowing the model dynamics. To overcome the major drawback of model-dependent approaches, an optimal model-free fuzzy controller (OMFFC) based on the estimation of the unknown dynamic function of the system is proposed. A time-delay estimation (TDE) technique is effectively exploited to approximate the unknown dynamic function of the system. The estimation error is then offset using a robust adaptive fuzzy logic compensator. Based on Lyapunov stability arguments, the global asymptotic stability of the coaxial rotor drone system is proven. Moreover, a flower pollination-based algorithm is also proposed to generate the optimal parameters to address the trade-off between optimal tracking performance and the design conditions related to the closed-loop stability requirements. The numerical simulations illustrate how the proposed methodology leads to the best performance, as well as less computational complexity compared to the standard proportional-integral-derivative and time-delay estimation-based controllers in the presence of external disturbances.
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Other controller methods commonly used in integration with the TDE mechanism for attenuation of system nonlinearities include PID, adaptive sliding mode controller (SMC), and fuzzy logic approach-based control methods.
“Other controller methods commonly used in integration with the TDE mechanism for attenuation of system nonlinearities include, for example, the PID controller [18], adaptive sliding mode controller (SMC) [19], and fuzzy logic approach-based [20] control methods.”
From A comparative study on time-delay estimation for time-delay nonlinear system control (2025) · cites this paper as [20]
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- Authors
- Glida, H. E., Chelihi, A., Abdou, L., Sentouh, C., & Perozzi, G.
- Affiliations
- University of Biskra (DZ)
- Centre National de la Recherche Scientifique (FR)
- Corresponding author
- Glida, Hossam Eddine
- Venue
- ISA Transactions
- Publisher
- Elsevier BV
- Published
- 2023-06
- Volume
- 137
- Pages
- 236-247
- ISSN
- 0019-0578 (ISSN-L)
- OpenAlex
- W4312206849
- Cited by
- 26
- References
- 42
- Citations by year
- 2026: 4 · 2025: 11 · 2024: 7 · 2023: 4
- FWCI
- 2.22
- Type
- journal article
- Language
- en
- Open access
- closed
- Locations
- ISA Transactions (publishedVersion)
- PubMed (publishedVersion)
- Funders
- Ministère de l'Education Nationale, de l'Enseignement Superieur et de la Recherche
- Centre National de la Recherche Scientifique
- Ministère de l'Enseignement Supérieur et de la Recherche Scientifique
- Université Polytechnique Hauts-de-France
- Topics
- Physical Sciences › Engineering › Control and Systems Engineering › Adaptive Control of Nonlinear Systems
- Physical Sciences › Computer Science › Artificial Intelligence › Fuzzy Logic and Control Systems
- Physical Sciences › Engineering › Control and Systems Engineering › Stability and Control of Uncertain Systems
- Keywords
- trajectory tracking control, time delay estimation, flower pollination algorithm, global asymptotic stability, position and attitude control, disturbance rejection, unknown dynamics
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