Trajectory Tracking of a Quadcopter Using Fuzzy-PD Controller
Küçük Resim Yok
Tarih
2021
Yazarlar
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
Institute of Electrical and Electronics Engineers Inc.
Erişim Hakkı
info:eu-repo/semantics/closedAccess
Özet
In this work, the trajectory tracking control of an unmanned aerial vehicle (UAV) has been accomplished using an adaptive proportional-derivative (PD) controller, in which fuzzy logic controllers have been utilized to determine the controller gain values resulting in better transient and steady-state characteristics. The real-time flight tests have been carried out on AR.Drone 2.0 for two different reference trajectories. The drone's discrepancies from these trajectories along with their derivatives have been employed as the input signals to the proposed control scheme. To provide means for comparison, a conventional PD controller has been also implemented. The obtained results from the real-time experiments indicate that the adaptation of the PD gains can give rise to smaller overshoot, shorter settling time, and less deviation from the target trajectory. © 2021 Chamber of Turkish Electrical Engineers.
Açıklama
13th International Conference on Electrical and Electronics Engineering, ELECO 2021 -- 25 November 2021 through 27 November 2021 -- -- 176537
Anahtar Kelimeler
Aircraft Control, Aircraft Detection, Antennas, Controllers, Drones, Fuzzy Logic, Controller Gain, Flight Test, Fuzzy Logic Controllers, Gain Values, Proportional-Derivative Controllers, Real- Time, Steady State Characteristics, Trajectory Tracking Control, Trajectory-Tracking, Transient State, Trajectories
Kaynak
2021 13th International Conference on Electrical and Electronics Engineering, ELECO 2021
WoS Q Değeri
Scopus Q Değeri
N/A
