Uncertainty Estimation of Drone Propellers Acceleration and Stability

Abstract

-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.

Construction of the method for building analytical membership functions in order to apply operations of mathematical analysis in the theory of fuzzy sets

“…A special role in this case will belong to a neural-fuzzy observer, whose operation in turn would require the enlargement of computer libraries of fuzzy models to operate fuzzy asymmetrical numbers [49]. In the same time, the simplicity of successful construction of software that is based on the implementation of fuzzy-set controllers and practical control over acceleration and lifting force for a drone has been demonstrated in paper [50]. Despite the overall efficiency of fuzzy-set control over a single CUV, the main problem to control the maneuver of a group of CUV is the impossibility of applying optimization methods for the nonlinear dynamics models, which predetermines the nonanalytical character of membership functions.…”

Transformation of operations with fuzzy sets for solving the problems on optimal motion of crewless unmanned vehicles

“…The work project [39] is an exemplary prototype of its implementation and which will also require narrowing of libraries of fuzzy analytic computer models for operations with fuzzy asymmetric numbers [40]. Simplicity of software development based on introduction of fuzzy multiple regulators and practical control of acceleration and lifting force of such drones were demonstrated in [41]. However, despite the overall efficiency of fuzzy multiple control of one vehicle, solution of the problem of nonlinear dynamics remains the main unresolved problem for control of a group of vehicles, especially when they are working in a rank [18].…”

“…However, joint implementation of analytic and fuzzy set methods encounters non-analyticity and non-differentiation of membership functions. Besides, application is complicated namely by the form of merge and intersection operations in working out solution of equations and equation systems by analytical methods [41].…”

“…Examples of application of fuzzy rules to control of airborne crewless vehicles with four propellers have been demonstrated in [41]. At the same time, the choice of discrete values of membership functions in accordance with dynamic properties of vehicles and external influences remains an unresolved problem.…”

“…A quadrocopter contains four motors, so to realize control of such a vehicle, windings of all four motors should be powered with amplified voltages i simultaneously coordinated by the microcontroller [41]. Since the minimum and maximum angular velocities are known as ratings for all motors, it is advisable to use four input parameters (acceleration, speed, displacement and lifting power) and four output parameters (speed of rotation of all four propellers).…”