Fuzzy control for path tracking and obstacle avoidance of a qudrotor flight

Author

Sabour, M.H. ; Kosari, A. ; Koloo, Farhad Ahadi ; Shamsi, K. ; Mohammadzaheri, Morteza

Author_Institution

Dept. of Aerosp. Eng., Univ. of Tehran, Tehran, Iran

fYear

2015

fDate

10-14 May 2015

Firstpage

852

Lastpage

857

Abstract

Fuzzy gain-scheduling is one of the prominent procedures of fuzzy controller design which is employed to control a nonlinear model of a Quadrotor in this article. For this purpose, a set of intuitively designed linguistic rules is developed for the Quadrotor to track an optimal path obtained through direct collocation method. The fuzzy controller is shown to exhibit excellent tracking performance. In addition, the effect of importing drag force as a nonlinear term in dynamics equations in model accuracy and performance of fuzzy controller has been investigated.

Keywords

collision avoidance; drag; fuzzy control; helicopters; mobile robots; nonlinear control systems; optimal control; robot dynamics; scheduling; vehicle dynamics; direct collocation method; drag force; dynamics equation; fuzzy controller design; fuzzy gain-scheduling; linguistic rule; nonlinear model; nonlinear term; obstacle avoidance; optimal path; path tracking; quadrotor flight; tracking performance; Conferences; Decision support systems; Electrical engineering; Fuzzy controller; Optimized Path Tracking; Quadrotor;

fLanguage

English

Publisher

ieee

Conference_Titel

Electrical Engineering (ICEE), 2015 23rd Iranian Conference on

Conference_Location

Tehran

Print_ISBN

978-1-4799-1971-0

Type

conf

DOI

10.1109/IranianCEE.2015.7146331

Filename

7146331