Title :
A new fuzzy adaptive control for a Quadrotor flying robot
Author :
Mehranpour, Mohammad Reza ; Emamgholi, Omid ; Shahri, A.M. ; Farrokhi, Mohammad
Author_Institution :
Dept. of Mechatron. Eng., Qazvin Islamic Azad Univ. (QIAU), Qazvin, Iran
Abstract :
Widespread application of unmanned flying robots to provide military and nonmilitary requirements is depend on their ease of application. If various equipments such as camera and graspers are installed on a flying robot, the dynamic model will be changed. Hence, it is necessary to adapt the controller to the changes of dynamic model of flying robot. In this paper, a new fuzzy adaptive controller is designed for the flight control of a Quadrotor. The fuzzy PID controller has been implemented on the robot through Hardware-In-the-Loop (HIL) simulation in LabVIEW software. The fuzzy rules are defined as well as range of membership functions. Finally, the performance of controller is experimentally verified and the results are concluded.
Keywords :
adaptive control; autonomous aerial vehicles; control system synthesis; fuzzy control; helicopters; motion control; three-term control; vehicle dynamics; HIL simulation; LabVIEW software; controller performance; dynamic model; fuzzy PID controller; fuzzy adaptive controller design; fuzzy rules; hardware-in-the-loop simulation; membership functions; nonmilitary requirements; quadrotor flying robot; unmanned flying robots; Fuzzy Adaptive Control; Fuzzy PID Control; Hardware-In-the-Loop; LabVIEW; Quadrotor Flying Robot;
Conference_Titel :
Fuzzy Systems (IFSC), 2013 13th Iranian Conference on
Conference_Location :
Qazvin
Print_ISBN :
978-1-4799-1227-8
DOI :
10.1109/IFSC.2013.6675675
