Control of a Quadrotor Using a Smart Self-Tuning Fuzzy PID Controller

Gautam, Deepak; Ha, Cheolkeun

doi:10.5772/56911

Cited by 98 publications

(50 citation statements)

References 10 publications

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“…The motion along any direction on the lateral axis is obtained by decreasing the rotational speed of the rotors along the desired direction of motion, and increasing the rotational speed of the rotors opposite to the desired direction of motion [5]. Figure 2 explains the direction based on the speed of propellers.…”

Section: Fig 2 Quadcopter Movementsmentioning

confidence: 99%

Uncertainty Estimation of Drone Propellers Acceleration and Stability

Nasution¹,

Nasution²,

Siahaan³

2017

Preprint

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-Drones are unmanned aircraft are often used for specific purposes especially in the military environment. The use of these aircraft often experiences problems while in the air. There are two types of machines used in the drone, jet, and propeller. This study aims at the use of propellers. Usually, the drone has four propellers on each side, but there also has more. Load changes will affect the balance of drones. It will also change the angle of each side. Fuzzy techniques applied in this case is that it will adjust the speed of each propeller based on the load that it has. Every corner will affect the balance are two points X and Y. The application of this method will improve the speed of the propeller and made the position of drones in the air to be stable.

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Section: Fig 2 Quadcopter Movementsmentioning

confidence: 99%

Uncertainty Estimation of Drone Propellers Acceleration and Stability

Nasution¹,

Nasution²,

Siahaan³

2017

Preprint

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show abstract

“…Hava aracının durum ve konum kontrolü için genişletilmiş Kalman Filtre tabanlı kendini ayarlayabilen bulanık PID kullanmışlardır. Bu PID yapısıyla, klasik PID yapısına göre, rüzgâr ve bozucu etkilere karşı daha çabuk uyum sağladığı ve önemli ölçüde daha performanslı olduğunu ortaya koymuşlardır [8]. Chee ve Zhong doğrusal olmayan tamamlayıcı filtre ve oransal-integral hız denetleyicileri ile durum tahmini ve kararlılığını sağladıkları bir insansız hava aracı geliştirmişlerdir.…”

Section: Gi̇ri̇ş (Introduction)unclassified

Bi̇r Döner Kanata Ariza Toleransli Uçuş Kontrol Si̇stemi̇ Tasarimi

Kiyak¹,

Ermeydan²

2017

Gazi Üniversitesi Mühendislik-Mimarlık Fakültesi Dergisi

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Bu çalışmada bir döner kanatın farklı motor arıza senaryolarının geliştirilmiş PID denetleyici yaklaşımıyla arıza toleranslı kontrolü yapılmıştır. Denklemleri verilen hava aracının motor dinamikleri de modellenerek gerçekçi bir benzetim elde edilmiştir. Doğrusal olmayan model doğrusallaştırılarak uygun denetleyici yapıları oluşturulmuş, sonrasında bu yapı doğrusal olmayan modelde kullanılmıştır. Son olarak farklı motor arıza senaryoları üzerinden tasarlanan kontrol yapısının gürbüz bir yapı oluşturup oluşturmadığı sınanmıştır. Benzetim sonuçları incelendiğinde, tasarlanan kontrol sisteminin değişik şartlar altında gürbüz bir davranış sergilediği görülmüştür.

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“…plane with equal height (z) for all follower quadrotors. FLC shows a good result in tracking control of robots [11], helicopters [12,13]. FLC has many advantages such as simplicity of control, low cost and the possibility to design of controller without the exact knowledge of the mathematical model of the controlled system.…”

Section: Introductionmentioning

confidence: 99%

Tracking Formation Control for Multiple Quadrotors Based on Fuzzy Logic Controller and Least Square Oriented by Genetic Algorithm

Rabah¹,

Wu²

2015

TOAUTOCJ

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This paper studies the leader-follower formation control for multiple quadrotors. Two controllers are used. The first one is a proportional derivative controller used to ensure the tracking of the leader to the desired trajectory, while the second is based on fuzzy logic in order to achieve the desired formation in ! − ! plane with equal height (!) for all follower quadrotors. In order to ensure the speed time convergence of the formation shape, Genetic Algorithm is used online to tune the fuzzy logic controller parameters. This genetic algorithm is also used to predict the trajectory of the quadrotor leader in the case of communication failure between leader and follower quadrotors by online estimation of the least square coefficients. Proportional derivative controller is used again to keep the desired formation shape of the follower quadrotors. Finally, simulation results demonstrate the effectiveness of the proposed algorithms.

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Control of a Quadrotor Using a Smart Self-Tuning Fuzzy PID Controller

Cited by 98 publications

References 10 publications

Uncertainty Estimation of Drone Propellers Acceleration and Stability

Uncertainty Estimation of Drone Propellers Acceleration and Stability

Bi̇r Döner Kanata Ariza Toleransli Uçuş Kontrol Si̇stemi̇ Tasarimi

Tracking Formation Control for Multiple Quadrotors Based on Fuzzy Logic Controller and Least Square Oriented by Genetic Algorithm

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