A Velocity Feedback Fuzzy Logic Controller for Stable Hovering of a Quad Rotor UAV

被引：5
|
作者：
Abeywardena, D. M. W. [1 ]
Amaratunga, L. A. K. [1 ]
Shakoor, S. A. A. [1 ]
Munasinghe, S. R. [1 ]
机构：
[1] Univ Moratuwa, Dept Elect & Telecommun, Moratuwa, Sri Lanka
来源：
2009 INTERNATIONAL CONFERENCE ON INDUSTRIAL AND INFORMATION SYSTEMS | 2009年
关键词：
D O I：
10.1109/ICIINFS.2009.5429800
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Quad Rotor unmanned aerial vehicle (UAV) is an aerial vehicle platform which has drawn much attention in the recent past due to its simple yet unique design. Despite the simplicity in the hardware, the vehicle is inherently unstable, and many control strategies have been proposed to achieve stability and control of the quad rotor platform. This paper presents a Fuzzy Logic based design to stabilize and control the quad rotor UAV. The fuzzy controller was designed and simulated along with a non-linear dynamic model of the quad rotor UAV. The fuzzy controller was then used to achieve stable hovering of the quad rotor UAV, amidst velocity disturbances. The simulation results show that stable hovering conditions can be achieved with the designed controller.
引用
收藏
页码：558 / 562
页数：5
相关论文
共 50 条
  • [41] Learning Stable Robust Adaptive NARMA Controller for UAV and Its Application to Twin Rotor MIMO Systems
    Parvın Bulucu
    Mehmet Uğur Soydemir
    Savaş Şahin
    Aykut Kocaoğlu
    Cüneyt Güzeliş
    Neural Processing Letters, 2020, 52 : 353 - 383
  • [42] Learning Stable Robust Adaptive NARMA Controller for UAV and Its Application to Twin Rotor MIMO Systems
    Bulucul, Parvm
    Soydemir, Mehmet Ugur
    Sahin, Savas
    Kocaoglu, Aykut
    Guzelis, Cuneyt
    NEURAL PROCESSING LETTERS, 2020, 52 (01) : 353 - 383
  • [43] DIRECT ROTOR FIELD ORIENTED CONTROL OF POLYPHASE INDUCTION MACHINE BASED ON FUZZY LOGIC CONTROLLER
    Iffouzar, Koussaila
    Benkhoris, Mohamed-Fouad
    Aouzellagi, Haroune
    Ghedamsi, Kaci
    Aouzellag, Djamal
    REVUE ROUMAINE DES SCIENCES TECHNIQUES-SERIE ELECTROTECHNIQUE ET ENERGETIQUE, 2017, 62 (01): : 42 - 47
  • [44] Adaptive Fuzzy Logic Controller and Its Application in MEMS Mirror Actuation Feedback Control
    Shan, Weiwei
    Zhu, Xiqun
    Ma, Yuan
    INTELLIGENT DATA ENGINEERING AND AUTOMATED LEARNING, PROCEEDINGS, 2009, 5788 : 74 - +
  • [45] Gravitational Search Algorithm and Lyapunov Theory based Stable Adaptive Fuzzy Logic Controller
    Roy, Ananya
    Das Sharma, Kaushik
    FIRST INTERNATIONAL CONFERENCE ON COMPUTATIONAL INTELLIGENCE: MODELING TECHNIQUES AND APPLICATIONS (CIMTA) 2013, 2013, 10 : 581 - 586
  • [46] A Second-Order Sliding Mode Controller of Quad-Rotor UAV Based on PID Sliding Mode Surface with Unbalanced Load
    KANG Bing
    MIAO Yan
    LIU Fu
    DUAN Jilu
    WANG Ke
    JIANG Shoukun
    JournalofSystemsScience&Complexity, 2021, 34 (02) : 520 - 536
  • [47] A Second-Order Sliding Mode Controller of Quad-Rotor UAV Based on PID Sliding Mode Surface with Unbalanced Load
    Bing Kang
    Yan Miao
    Fu Liu
    Jilu Duan
    Ke Wang
    Shoukun Jiang
    Journal of Systems Science and Complexity, 2021, 34 : 520 - 536
  • [48] A Second-Order Sliding Mode Controller of Quad-Rotor UAV Based on PID Sliding Mode Surface with Unbalanced Load
    Kang, Bing
    Miao, Yan
    Liu, Fu
    Duan, Jilu
    Wang, Ke
    Jiang, Shoukun
    JOURNAL OF SYSTEMS SCIENCE & COMPLEXITY, 2021, 34 (02) : 520 - 536
  • [49] A real-time implementation of an autonomous UAV controller using FPGA: Based on fuzzy logic approach
    Aghdam, Farid Alidoust
    Rostami, Ali
    Haghipour, Siamak
    International Journal of Simulation: Systems, Science and Technology, 2013, 14 (01): : 41 - 48
  • [50] A fuzzy logic feedback filter design tuned with PSO for L1 adaptive controller
    Hashim, Hashim A.
    El-Ferik, Sami
    Abido, Mohamed A.
    EXPERT SYSTEMS WITH APPLICATIONS, 2015, 42 (23) : 9077 - 9085
12345