Abdelmaksoud, Sherif I. and Mailah, Musa and Abdallah, Ayman M. (2021) Improving disturbance rejection capability for a quadcopter UAV system using self-regulating fuzzy PID controller. In: 2020 International Conference on Computer, Control, Electrical, and Electronics Engineering, ICCCEEE 2020, 26 - 28 February 2021, Khartoum, Sudan.
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Official URL: http://dx.doi.org/10.1109/ICCCEEE49695.2021.942966...
Abstract
The quadcopter model is one of the most versatile flying machines nowadays. However, it is an under-Actuated, highly non-linear, and coupling system. It is also sensitive to external disturbances and uncertainties while trajectory tracking. Thus, in this study, a robust control method for the quadcopter system was proposed to improve system stability and disturbances rejection capability by utilizing a Self-Regulating (SR) Fuzzy Proportional-Integral-Derivative (FPID) control system, to be known as (SR-FPID) scheme. The proposed control system was designed based on the Fuzzy Logic (FL) to provide the automatic tuning of the PID control parameters based on various operating and loading requirements. The simulated results reveal the efficiency and robustness of the SR-FPID scheme in significantly improving the disturbance rejection capability and reducing the percentages of the settling time and the peak time of at least 97% in the presence of various forms of external perturbations.
| Item Type: | Conference or Workshop Item (Paper) |
|---|---|
| Uncontrolled Keywords: | Disturbance Rejection, Fuzzy logic, PID, Quadcopter, Rotorcraft UAVs, Self-regulating, Trajectory tracking |
| Subjects: | T Technology > TJ Mechanical engineering and machinery |
| Divisions: | Mechanical Engineering |
| ID Code: | 98032 |
| Deposited By: | Widya Wahid |
| Deposited On: | 23 Nov 2022 07:12 |
| Last Modified: | 23 Nov 2022 07:12 |
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