Real-time trajectory tracking of an unmanned aerial vehicle using a self-tuning fuzzy proportional integral derivative controller
In the present study, a desired reference trajectory was autonomously tracked by means of a quadrotor unmanned aerial vehicle with a self-tuning fuzzy proportional integral derivative controller. A proportional integral derivative controller and a fuzzy system tuning gains from proportional integral...
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Published in | International journal of micro air vehicles Vol. 8; no. 4; pp. 252 - 268 |
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Main Authors | , , |
Format | Journal Article |
Language | English |
Published |
London, England
SAGE Publications
01.12.2016
Sage Publications Ltd |
Subjects | |
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Abstract | In the present study, a desired reference trajectory was autonomously tracked by means of a quadrotor unmanned aerial vehicle with a self-tuning fuzzy proportional integral derivative controller. A proportional integral derivative controller and a fuzzy system tuning gains from proportional integral derivative controller are applied to stabilize the quadrotor, to control the attitude and to track the trajectory. Inputs of fuzzy logical controller consist of the speed required for the distance between the current position of unmanned aerial vehicle and the defined reference point and differences between orientation angles and variance in differences. Outputs of fuzzy logical controller consist of the proportional integral derivative coefficients which produce pitch, roll, yaw and height values. The fuzzy proportional integral derivative control algorithm is real-time applied to the quadrotor in MATLAB/Simulink environment. Based on data from experimental studies, although both classical proportional integral derivative controller and self-tuning fuzzy proportional integral derivative controller have accomplished to track a defined trajectory with the aircraft, the self-tuning fuzzy proportional integral derivative controller has been able to control with less errors than the classical proportional integral derivative controller. |
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AbstractList | In the present study, a desired reference trajectory was autonomously tracked by means of a quadrotor unmanned aerial vehicle with a self-tuning fuzzy proportional integral derivative controller. A proportional integral derivative controller and a fuzzy system tuning gains from proportional integral derivative controller are applied to stabilize the quadrotor, to control the attitude and to track the trajectory. Inputs of fuzzy logical controller consist of the speed required for the distance between the current position of unmanned aerial vehicle and the defined reference point and differences between orientation angles and variance in differences. Outputs of fuzzy logical controller consist of the proportional integral derivative coefficients which produce pitch, roll, yaw and height values. The fuzzy proportional integral derivative control algorithm is real-time applied to the quadrotor in MATLAB/Simulink environment. Based on data from experimental studies, although both classical proportional integral derivative controller and self-tuning fuzzy proportional integral derivative controller have accomplished to track a defined trajectory with the aircraft, the self-tuning fuzzy proportional integral derivative controller has been able to control with less errors than the classical proportional integral derivative controller. |
Author | Bayir, Raif Demir, Batıkan E Duran, Fecir |
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Keywords | proportional integral derivative self-tuning fuzzy Quadrotor trajectory tracking |
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SubjectTerms | Algorithms Control algorithms Control theory Controllers Fuzzy control Fuzzy logic Fuzzy systems Pitch (inclination) Proportional integral derivative Real time Rolling motion Self tuning Stability Tracking Trajectories Unmanned aerial vehicles Unmanned helicopters Yaw |
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Title | Real-time trajectory tracking of an unmanned aerial vehicle using a self-tuning fuzzy proportional integral derivative controller |
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