Intelligent Controller Design for Quad-Rotor Stabilization in Presence of Parameter Variations
Joint Authors
Lee, Deok Jin
Doukhi, Oualid
Fayjie, Abdur Razzaq
Source
Journal of Advanced Transportation
Issue
Vol. 2017, Issue 2017 (31 Dec. 2017), pp.1-10, 10 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2017-07-18
Country of Publication
Egypt
No. of Pages
10
Main Subjects
Abstract EN
The paper presents the mathematical model of a quadrotor unmanned aerial vehicle (UAV) and the design of robust Self-Tuning PID controller based on fuzzy logic, which offers several advantages over certain types of conventional control methods, specifically in dealing with highly nonlinear systems and parameter uncertainty.
The proposed controller is applied to the inner and outer loop for heading and position trajectory tracking control to handle the external disturbances caused by the variation in the payload weight during the flight period.
The results of the numerical simulation using gazebo physics engine simulator and real-time experiment using AR drone 2.0 test bed demonstrate the effectiveness of this intelligent control strategy which can improve the robustness of the whole system and achieve accurate trajectory tracking control, comparing it with the conventional proportional integral derivative (PID).
American Psychological Association (APA)
Doukhi, Oualid& Fayjie, Abdur Razzaq& Lee, Deok Jin. 2017. Intelligent Controller Design for Quad-Rotor Stabilization in Presence of Parameter Variations. Journal of Advanced Transportation،Vol. 2017, no. 2017, pp.1-10.
https://search.emarefa.net/detail/BIM-1170712
Modern Language Association (MLA)
Doukhi, Oualid…[et al.]. Intelligent Controller Design for Quad-Rotor Stabilization in Presence of Parameter Variations. Journal of Advanced Transportation No. 2017 (2017), pp.1-10.
https://search.emarefa.net/detail/BIM-1170712
American Medical Association (AMA)
Doukhi, Oualid& Fayjie, Abdur Razzaq& Lee, Deok Jin. Intelligent Controller Design for Quad-Rotor Stabilization in Presence of Parameter Variations. Journal of Advanced Transportation. 2017. Vol. 2017, no. 2017, pp.1-10.
https://search.emarefa.net/detail/BIM-1170712
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1170712