Quadrotor attitude and position fuzzy control using linearised inverted moment matrix Online publication date: Tue, 24-Sep-2019
by Abdul Gahfoor Al Shehabi
International Journal of Vehicle Autonomous Systems (IJVAS), Vol. 14, No. 4, 2019
Abstract: Controlling non-linear dynamic model of quadrotor is a challenging task since the quadrotor is considered as an under-actuated system with highly coupled dynamics due to both the six Degrees Of Freedom (DOF) motion and four control input variables. The objective of this research is to investigate the implementation of fuzzy logic concepts using linearised inverted moment matrix in order to design Multi-Inputs-Multi-Outputs (MIMO) fuzzy flight control system for the quadratic non-linear dynamic model. Non-linear mathematical model of the quadrotor is derived and MIMO attitude and position fuzzy controllers are designed. The invert of moment matrix is linearised and differential actions of PD-fuzzy controllers are considered as well. The quadrotor dynamic behaviour is simulated and evaluated using M-file programs, the results have shown that using PD-fuzzy controller type is capable to achieve the design requirements and significantly improves the performance of the quadrotor stability characteristics.
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