Universiti Teknologi Malaysia Institutional Repository

Fuzzy logic control for quadrotor micro-aerial vehicle altitude and attitude stabilization

Noordin, Aminurrashid and Mohd. Basri, Mohd. Ariffanan and Mohamed, Zaharuddin (2022) Fuzzy logic control for quadrotor micro-aerial vehicle altitude and attitude stabilization. In: International Conference on Computational Intelligence in Machine Learning, ICCIML 2021, 1 June 2021 - 2 June 2021, Virtual, Online.

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Official URL: http://dx.doi.org/10.1007/978-981-16-8484-5_34

Abstract

This paper presents a fuzzy logic controller (FLC) for altitude and attitude stabilization of a quadrotor micro-aerial vehicle (MAV). The MAV is a small vehicle that weighs less than 0.1 kg; therefore, a slight perturbation will affect its performance. Hence, for the actuated dynamics, roll (ϕ), pitch (θ), yaw (ψ), and altitude (z) stabilization, a FLC scheme is proposed. A 3 × 3 heuristics rules is used with error and derivative error as the inputs. In addition, five memberships function is created for the output comprise of triangles type and sigmoidal type. In this Mamdani-model, centroid is chosen as the defuzzification process. All individual gains for the FLC are tuned manually until achieving the desired responses. The Newton–Euler model of quadrotor is simulated using Simulink with a slight force perturbation which is applied on the altitude (z) to investigate the system performances. The simulation result shows that the flight control scheme provides good performance in the presence of perturbation.

Item Type:Conference or Workshop Item (Paper)
Uncontrolled Keywords:fuzzy logic control, micro-aerial vehicle, perturbation, quadrotor, UAV
Subjects:T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions:Faculty of Engineering - School of Electrical
ID Code:100658
Deposited By: Yanti Mohd Shah
Deposited On:30 Apr 2023 08:27
Last Modified:30 Apr 2023 08:27

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