Fuzzy Control for Path Tracking and Obstacle Avoidance of a Qudrotor flight

被引：0
|
作者：
Sabour, M. H. [1 ]
Kosari, A. [1 ]
Koloo, Farhad Ahadi [1 ]
Shamsi, K. [1 ]
Mohammadzaheri, Morteza [2 ]
机构：
[1] Univ Tehran, Dept Aerosp Engn, Tehran, Iran
[2] Texas A&M Univ Qatar, Dept Mech Engn, Doha, Qatar
来源：
2015 23RD IRANIAN CONFERENCE ON ELECTRICAL ENGINEERING (ICEE) | 2015年
关键词：
Quadrotor; Optimized Path Tracking; Fuzzy controller;
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
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.
引用
收藏
页码：852 / 857
页数：6
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