FUZZY LOGIC CONTROLLER DESIGN FOR QUADROTOR IN REAL TIME
Keywords:
Fuzzy Logic Control, Quadrotor, Real Time Hardware in the Loop SimulationAbstract
The purpose of this study is to design and verify a fuzzy logic controller for a Quadrotor ,which is a nonlinear system due to its mathematical model, in real time experimental setup. In this sense performances of the fuzzy controllers were compared with the performances of PID controllers that were designed for the same Quadrotor. Controllers were verified and their performances were augmented in an experimental setup that facilitates to set parameters in real time. When nonlinear dynamics of system due to mathematical model are increasing, designed fuzzy controller trajectory pursuit and robustness performance is getting better than PID controller’s performance. When the improvement in microprocessor technology is considered, fuzzy logic controller, which do not require dense mathematical operations in design process, design and verification for the control of nonlinear dynamic systems is very simple and fast.
Downloads
References
Of Control Systems For A Quadrotor Flight Vehicle
Equipped With Inertial Sensors”, Atılım University
İstanbul.
[2] Bora Erginer, Haziran 2007 “Quadrotor VTOL
Aracının Modellenmesi ve Kontrolü”, İstanbul Teknik
Üniversitesi İstanbul.
[3] Sedat Kurtoğlu, 2009, “Dört Pervaneli Uçuş
Aracı Deney Düzeneği Donanım ve Kontrol
Algoritmalarının Tasarımı”,Gebze Yüksek
Teknolojileri Enstitüsü Mühendislik ve Fen Bilimleri
Enstitüsü Gebze.
[4] Tarek Madani and Abdelaziz Benallegue,
“Backstepping Control For A Quadratic Helicopter”,
Laboratoire d’Inge´nierie des Syste`mes de Versailles
10-12, avenue de l’Europe, 78140 Ve´lizy France,
October 2006.
[5] Rong Xu and Ümit Özgüner, December 2006,
“Sliding Mode Control Of A Quadratic Helicopter”,
Proceedings of the 45th IEEE Conference on Decision
& Control.
[6] Ender Ortak, 2010, “4 Rotorlu Bir İnsansız
Hava Aracı (Quadrotor) İçin Bulanık Kontrolcü
Tasarımı Ve Simülasyonu “,Yıldız Teknik
Üniversitesi Makine Mühendisliği Bölümü İstanbul.
[7] A. Rabhi, M. Chadli and C. Pegard, June 20-
23, 2011 ,”Robust Fuzzy Control for Stabilization of a
Quadrotor” The 15th International Conference on
Advanced Robotics Tallinn, Estonia.
[8] Fu-Kuang Yeh, Chia-Wei Huang, and Jian-Ji
Huang, September 13-18, 2011, “Adaptive Fuzzy
Sliding-Mode Control for a Mini-UAV with
Propellers” SICE Annual Conference 2011, Tokyo,
Japan.
[9] Bayrakceken, M.K.; Arisoy, A. ; " An
Educational Setup for Nonlinear Control Systems:
Enhancing the motivation and learning in a targeted
curriculum by experimental practices" Control
Systems, IEEE , vol.:33, issue:2, pp. 64-81, April
2013.
Downloads
Published
How to Cite
Issue
Section
License
The manuscript with title and authors is being submitted for publication in Journal of Aeronautics and Space Technologies. This article or a major portion of it was not published, not accepted and not submitted for publication elsewhere. If accepted for publication, I hereby grant the unlimited and all copyright privileges to Journal of Aeronautics and Space Technologies.
I declare that I am the responsible writer on behalf of all authors.