A fuzzy-PD controller for an autonomous aerial robot

This paper introduces the fuzzy-PD controller, a novel approach of controlling a quadcopter, which is based on the Euler-Newton equations. The proposed fuzzy-PD includes a PD controller and a fuzzy system that adjusts the PD controller gains for stabilizing the quadcopter. It is an approach that app...

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Bibliographic Details
Published in2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) pp. 325 - 327
Main Authors Do Khac Tiep, Kinam Lee, Young-Jae Ryoo, Si Jung Kim
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.06.2017
Subjects
Attitude control
Fuzzy control
Fuzzy logic
Mathematical model
PD control
PID controller
Quadcopter
Rotors
Trajectory
Trajectory tracking
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Summary:This paper introduces the fuzzy-PD controller, a novel approach of controlling a quadcopter, which is based on the Euler-Newton equations. The proposed fuzzy-PD includes a PD controller and a fuzzy system that adjusts the PD controller gains for stabilizing the quadcopter. It is an approach that applies a fuzzy concept to control a quadcopter. The proposed approach has been simulated and analyzed in terms of performance. The results showed that the fuzzy-PD controller outperforms the classical PD control.
DOI:10.1109/URAI.2017.7992742