Design and Implementation of an Attitude Controller for an Octocopter Using Fuzzy+PID
| Autor: | Riska Analia, 李斯卡 |
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| Rok vydání: | 2016 |
| Druh dokumentu: | 學位論文 ; thesis |
| Popis: | 104 The objective of this work is to design and implement attitude control for an octocopter. Octocopter is one of the Unmanned Aerial Vehicles (UAVs), which have grown fast recently, and various applications have been developed. In this work, the dynamic model of an octocopter is obtained by making the configuration similar to a quadcopter. In order to stabilize the attitude control of the octocopter, we proposed a Fuzzy+PID design of the attitude controller. Both computer simulation and real-time experiments have been carried out by using LabVIEW programming. In the simulation, we investigated the performance of the proposed Fuzzy+PID controller and tuned the controller parameters. For real-time control, NI-MyRio has been chosen to implement the controller onboard the octocopter. The practical experiments show that the proposed Fuzzy+PID controllers can handle the disturbances during flying and have robustness against certain environmental conditions. The experimental results validate the simulations and verify the effectiveness of the developed controller. |
| Databáze: | Networked Digital Library of Theses & Dissertations |
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