Affiliation:
1. Smart Autonomous System Laboratory, Kunsan National University, Jeollabuk, Republic of Korea
Abstract
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).
Funder
Ministry of Science, ICT and Future Planning
Subject
Strategy and Management,Computer Science Applications,Mechanical Engineering,Economics and Econometrics,Automotive Engineering
Cited by
26 articles.
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