Trajectory Tracking of a Quadcopter Using Fuzzy-PD Controller

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dc.authorscopusid57220814479
dc.authorscopusid23980961100
dc.contributor.authorCanbek, K.O.
dc.contributor.authorOniz, Y.
dc.date.accessioned2024-07-18T20:17:24Z
dc.date.available2024-07-18T20:17:24Z
dc.date.issued2021
dc.description13th International Conference on Electrical and Electronics Engineering, ELECO 2021 -- 25 November 2021 through 27 November 2021 -- -- 176537en_US
dc.description.abstractIn 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.en_US
dc.identifier.doi10.23919/ELECO54474.2021.9677806
dc.identifier.endpage113en_US
dc.identifier.isbn9786050114379
dc.identifier.scopus2-s2.0-85125231285en_US
dc.identifier.scopusqualityN/Aen_US
dc.identifier.startpage109en_US
dc.identifier.urihttps://doi.org/10.23919/ELECO54474.2021.9677806
dc.identifier.urihttps://hdl.handle.net/11411/6515
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherInstitute of Electrical and Electronics Engineers Inc.en_US
dc.relation.ispartof2021 13th International Conference on Electrical and Electronics Engineering, ELECO 2021en_US
dc.relation.publicationcategoryKonferans Öğesi - Uluslararası - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectAircraft Controlen_US
dc.subjectAircraft Detectionen_US
dc.subjectAntennasen_US
dc.subjectControllersen_US
dc.subjectDronesen_US
dc.subjectFuzzy Logicen_US
dc.subjectController Gainen_US
dc.subjectFlight Testen_US
dc.subjectFuzzy Logic Controllersen_US
dc.subjectGain Valuesen_US
dc.subjectProportional-Derivative Controllersen_US
dc.subjectReal- Timeen_US
dc.subjectSteady State Characteristicsen_US
dc.subjectTrajectory Tracking Controlen_US
dc.subjectTrajectory-Trackingen_US
dc.subjectTransient Stateen_US
dc.subjectTrajectoriesen_US
dc.titleTrajectory Tracking of a Quadcopter Using Fuzzy-PD Controller
dc.typeConference Object

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