Fuzzy Logic in Drone Control

Authors

  • Anja Stijepović University of Donja Gorica
  • Una Sredovic

Keywords:

UAV, Quadrotor, Fuzzy Logic Controller, MAV

Abstract

In this paper, we examine altitude and attitude stabilization of an unmanned aerial vehicle (UAV) using Fuzzy Logic. There are numerous types of UAVs, but the model analyzed in this paper is designed for a quadrotor micro aerial vehicles with mass no greater than 0,1 kg. A fuzzy logic controller with two inputs (errors and derivative errors) and a fuzzy output is designed in order to stabilize the roll, pitch and yaw angles and thealtitude of a drone with four rotors. Since MATLAB is a well developed and commonly used platform by mathematicians and engineers, it was used for building the Fuzzy model. After the creation of appropriate membership functions and a 3x3 table of if-then rules, centroid method was used for the outputs defuzzification and the Mamdani model was tested in Simulink. In addition, a slight perturbation was applied to observe the robustness of this controller during hovering. The model showed a good and stabilized flight control scheme for a quadrotor, even if it is affected by perturbation.

References

[1] Hu, J. Lanzon, A.: “An innovative tri-rotor drone and associated distributed aerial drone swarm control” (2018) Robotics and Autonomous Systems 103. 162-174
[2] R. D. Layman: “Naval Aviation in the First World War: Its Impact and Influence” (1996), 56
[3] Theerasak Sangyam, Pined Laohapiengsak, Wonlop Chongcharoen, Itthisek Nikhamhang: “Path Tracking of UAV Using Self-Tuning PID Controller Based on Fuzzy Logic” (2010)
[4] Teppo Luukkonen: “Modelling and control of quadcopter” (2011)
[5] Aminurrashid Noordin, Mohd Ariffanan Mohd Basri, Zaharuddin Mohamed: “Fuzzy Logic Control for Quadrotor Micro-aerial Vehicle Altitude and Attitude Stabilization (2022)

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Published

2024-02-27

Issue

Vol. 6 No. 1 (2024): Bánki Közlemények/Bánki Reports Spring (2024)

Section

Technical Informatics (Műszaki Informatika)

License

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