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Title

DESIGN AND IMPLEMENTATION OF ATTITUDE PID CONTROLLER WITH FUZZY SYSTEM TO ADJUST THE CONTROLLER GAIN VALUES FOR QUADROTOR

Pages

 Start Page 19 | End Page 28

Abstract

 This paper presents a completely practical control approach for QUADROTOR drone. QUADROTOR is modeled using Euler-Newton equations. For stabilization and control of QUADROTOR a classic PID controller has been designed and implemented on the plant and a fuzzy controller is used to adjust the controller parameters. Considering that QUADROTOR is a nonlinear system, using classic controllers for the plant is not effective enough. Therefore, using FUZZY SYSTEM which is a nonlinear controller is effective for the nonlinear plant. According to the desired set point, FUZZY SYSTEM adjusts the controller gain values to improve the performance of QUADROTOR which leads to better results than classical PID controller. To study the performance of FUZZY PID CONTROLLER on attitude control of the system, a QUADROTOR is installed onto the designed stand. The system consists of accelerometer and gyroscope sensors and a microcontroller which is used to design fuzzy PID ATTITUDE CONTROLLER for the QUADROTOR. Regarding to the considerable noises of the experimental data, KALMAN FILTER is used to reduce them. Finally, using the KALMAN FILTER leads to better estimation of the QUADROTOR angle position and the FUZZY PID CONTROLLER performs the desired motions successfully.

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