Control of a quadrotor using a smart self-tuning fuzzy PID controller

Deepak Gautam, Cheolkeun Ha

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Abstract

This paper deals with the modelling, simulation-based controller design and path planning of a four rotor helicopter known as a quadrotor. All the drags, aerodynamic, coriolis and gyroscopic effect are neglected. A Newton-Euler formulation is used to derive the mathematical model. A smart self-tuning fuzzy PID controller based on an EKF algorithm is proposed for the attitude and position control of the quadrotor. The PID gains are tuned using a self-tuning fuzzy algorithm. The self-tuning of fuzzy parameters is achieved based on an EKF algorithm. A smart selection technique and exclusive tuning of active fuzzy parameters is proposed to reduce the computational time. Dijkstra's algorithm is used for path planning in a closed and known environment filled with obstacles and/or boundaries.The Dijkstra algorithm helps avoid obstacle and find the shortest route from a given initial position to the final position.

Original languageEnglish
Article number380
Pages (from-to)1-9
Number of pages9
JournalInternational Journal of Advanced Robotic Systems
Volume10
DOIs
Publication statusPublished - 5 Nov 2013
Externally publishedYes

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