Attitude Control of Quadcopter Using Fuzzy PD+I Controller
Journal Title: International Journal of the Computer, the Internet and Management - Year 2016, Vol 24, Issue 2
Abstract
Quadcopter is the nonlinear system that can be controlled by human expert couple with flight control system. This paper utilized the Fuzzy PD+I controller which optimize the stability of the quadcopter can be flying stable in roll and pitch angle minimize to zero degree which reference to the ground. Quadcopter has four motors generated the vertical thrust from their propellers to make it moved. The different of motors’ speed result make vary quadcopter’s attitude in nonlinear form by Fuzzy PD+I controller design, it can control quadcopter’s attitude nicely. This paper compares PID controller result in Control graph that Fuzzy PD+I Controller keep roll angle and pitch angle a little bit better, it may come from parameter tuning in controller spend more time. The testing by tuning in Fuzzy PD+I controller spend less time than tuning in PID controller.
Authors and Affiliations
Chanuan Uakarn, Chart Rithirun
Keywords
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- EP ID EP605068
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