Title :
Intelligent fuzzy controller of a quadrotor
Author :
Santos, Matilde ; López, Victoria ; Morata, Franciso
Author_Institution :
Fac. de Inf., Univ. Complutense, Madrid, Spain
Abstract :
The aim of this work is to describe an intelligent system based on fuzzy logic that is developed to control a quadrotor. A quadrotor is a helicopter with four rotors, that make the vehicle more stable but more complex to model and to control. The quadrotor has been used as a testing platform in the last years for various universities and research centres. A quadrotor has six degrees of freedom, three of them regarding the position: height, horizontal and vertical motions; and the other three are related to the orientation: pitch, roll and yaw. A fuzzy control is designed and implemented to control a simulation model of the quadrotor. The inputs are the desired values of the height, roll, pitch and yaw. The outputs are the power of each of the four rotors that is necessary to reach the specifications. Simulation results prove the efficiency of this intelligent control strategy.
Keywords :
aerospace testing; aircraft control; fuzzy control; helicopters; intelligent control; mobile robots; remotely operated vehicles; rotors; UAV; fuzzy logic; helicopter; intelligent fuzzy controller; intelligent system; quadrotor; research centre; vehicle rotor; Engines; Force; Fuzzy control; Fuzzy sets; Rotors; Trajectory; Vehicles; UAVs; fuzzy control; intelligent control system; quadrotor;
Conference_Titel :
Intelligent Systems and Knowledge Engineering (ISKE), 2010 International Conference on
Conference_Location :
Hangzhou
Print_ISBN :
978-1-4244-6791-4
DOI :
10.1109/ISKE.2010.5680812