Simple fuzzy solution for quadrotor attitude control

Author

Petrusevski, Ivan ; Rakic, Aleksandar

Author_Institution

Signals & Syst. Dept., Univ. of Belgrade, Belgrade, Serbia

fYear

2014

fDate

25-27 Nov. 2014

Firstpage

93

Lastpage

98

Abstract

This paper presents new computationally efficient and easy to tune attitude control of a four rotor helicopter called quadrotor. Short description of quadrotor concept and control framework is given and the segment of inner attitude control of the aircraft is addressed. Proposed fuzzy proportional - differential (PD) control structure utilizes Sugeno fuzzy engine, with simple intuitive set of rules and set of physically meaningful parameters. The verification of proposed solution was done via simulation and comparison with existing backstepping based attitude control system.

Keywords

PD control; attitude control; autonomous aerial vehicles; fuzzy control; helicopters; mobile robots; Sugeno fuzzy engine; fuzzy PD control; fuzzy proportional-differential control; helicopter; quadrotor attitude control; Attitude control; Backstepping; Engines; Fuzzy control; Mathematical model; Trajectory; Unmanned aerial vehicles; Attitude Control; Fuzzy Control; Quadrotor; Trajectory tracking; Unmanned Aerial Vehicle;

fLanguage

English

Publisher

ieee

Conference_Titel

Neural Network Applications in Electrical Engineering (NEUREL), 2014 12th Symposium on

Conference_Location

Belgrade

Print_ISBN

978-1-4799-5887-0

Type

conf

DOI

10.1109/NEUREL.2014.7011469

Filename

7011469