Intelligent Controller Design for Quad-Rotor Stabilization in Presence of Parameter Variations
The paper presents the mathematical model of a quadrotor unmanned aerial vehicle (UAV) and the design of robust Self-Tuning PID controller based on fuzzy logic, which offers several advantages over certain types of conventional control methods, specifically in dealing with highly nonlinear systems a...
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| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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Wiley
2017-01-01
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| Series: | Journal of Advanced Transportation |
| Online Access: | http://dx.doi.org/10.1155/2017/4683912 |
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| _version_ | 1832545290313269248 |
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| author | Oualid Doukhi Abdur Razzaq Fayjie Deok Jin Lee |
| author_facet | Oualid Doukhi Abdur Razzaq Fayjie Deok Jin Lee |
| author_sort | Oualid Doukhi |
| collection | DOAJ |
| description | The paper presents the mathematical model of a quadrotor unmanned aerial vehicle (UAV) and the design of robust Self-Tuning PID controller based on fuzzy logic, which offers several advantages over certain types of conventional control methods, specifically in dealing with highly nonlinear systems and parameter uncertainty. The proposed controller is applied to the inner and outer loop for heading and position trajectory tracking control to handle the external disturbances caused by the variation in the payload weight during the flight period. The results of the numerical simulation using gazebo physics engine simulator and real-time experiment using AR drone 2.0 test bed demonstrate the effectiveness of this intelligent control strategy which can improve the robustness of the whole system and achieve accurate trajectory tracking control, comparing it with the conventional proportional integral derivative (PID). |
| format | Article |
| id | doaj-art-2c34c15ed8f84b5a81177b4e7242a438 |
| institution | Kabale University |
| issn | 0197-6729 2042-3195 |
| language | English |
| publishDate | 2017-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Advanced Transportation |
| spelling | doaj-art-2c34c15ed8f84b5a81177b4e7242a4382025-02-03T07:26:11ZengWileyJournal of Advanced Transportation0197-67292042-31952017-01-01201710.1155/2017/46839124683912Intelligent Controller Design for Quad-Rotor Stabilization in Presence of Parameter VariationsOualid Doukhi0Abdur Razzaq Fayjie1Deok Jin Lee2Smart Autonomous System Laboratory, Kunsan National University, Jeollabuk, Republic of KoreaSmart Autonomous System Laboratory, Kunsan National University, Jeollabuk, Republic of KoreaSmart Autonomous System Laboratory, Kunsan National University, Jeollabuk, Republic of KoreaThe paper presents the mathematical model of a quadrotor unmanned aerial vehicle (UAV) and the design of robust Self-Tuning PID controller based on fuzzy logic, which offers several advantages over certain types of conventional control methods, specifically in dealing with highly nonlinear systems and parameter uncertainty. The proposed controller is applied to the inner and outer loop for heading and position trajectory tracking control to handle the external disturbances caused by the variation in the payload weight during the flight period. The results of the numerical simulation using gazebo physics engine simulator and real-time experiment using AR drone 2.0 test bed demonstrate the effectiveness of this intelligent control strategy which can improve the robustness of the whole system and achieve accurate trajectory tracking control, comparing it with the conventional proportional integral derivative (PID).http://dx.doi.org/10.1155/2017/4683912 |
| spellingShingle | Oualid Doukhi Abdur Razzaq Fayjie Deok Jin Lee Intelligent Controller Design for Quad-Rotor Stabilization in Presence of Parameter Variations Journal of Advanced Transportation |
| title | Intelligent Controller Design for Quad-Rotor Stabilization in Presence of Parameter Variations |
| title_full | Intelligent Controller Design for Quad-Rotor Stabilization in Presence of Parameter Variations |
| title_fullStr | Intelligent Controller Design for Quad-Rotor Stabilization in Presence of Parameter Variations |
| title_full_unstemmed | Intelligent Controller Design for Quad-Rotor Stabilization in Presence of Parameter Variations |
| title_short | Intelligent Controller Design for Quad-Rotor Stabilization in Presence of Parameter Variations |
| title_sort | intelligent controller design for quad rotor stabilization in presence of parameter variations |
| url | http://dx.doi.org/10.1155/2017/4683912 |
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