Intelligent Controller Design for Quad-Rotor Stabilization in Presenceof Parameter Variations
| Autor: | Deok Jin Lee, Oualid Doukhi, Abdur Razzaq Fayjie |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2017 |
| Předmět: |
Economics and Econometrics
Engineering Article Subject Strategy and Management PID controller ComputerApplications_COMPUTERSINOTHERSYSTEMS 02 engineering and technology Fuzzy logic Robustness (computer science) Control theory 0502 economics and business 0202 electrical engineering electronic engineering information engineering Physics engine 050210 logistics & transportation Computer simulation business.industry Mechanical Engineering 05 social sciences lcsh:TA1001-1280 Control engineering lcsh:HE1-9990 Drone Computer Science Applications Nonlinear system Automotive Engineering 020201 artificial intelligence & image processing lcsh:Transportation engineering lcsh:Transportation and communications Intelligent control business |
| Zdroj: | JOURNAL OF ADVANCED TRANSPORTATION Journal of Advanced Transportation, Vol 2017 (2017) |
| Popis: | 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). |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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