TY - GEN
T1 - Fuzzy logic-based self-tuning autopilots for trajectory tracking of a low-cost quadcopter
T2 - 2015 International Conference on Advanced Mechatronics, Intelligent Manufacture, and Industrial Automation, ICAMIMIA 2015
AU - Santoso, Fendy
AU - Garratt, Matthew A.
AU - Anavatti, Sreenatha G.
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2016/7/8
Y1 - 2016/7/8
N2 - In this work, we develop self-tuning PD-fuzzy autopilots for trajectory tracking of a low-cost Parrot AR.Drone2 quadcopter. We first recall the mathematical model of the system in terms of its multi-input, multi-output (MIMO) transfer function model acquired via system identification technique. Accordingly, we design three self-tuning autopilots by means of fuzzy inference systems to control the position of the drone in 3D space. This research serves as a preliminary study in our design process to investigate the feasibility of our fuzzy self-tuning autopilot before we can implement it into practice. We perform a systematic comparative study to highlight the effectiveness of our control algorithm with respect to fixed-gain autopilot as well as fuzzy logic controller.
AB - In this work, we develop self-tuning PD-fuzzy autopilots for trajectory tracking of a low-cost Parrot AR.Drone2 quadcopter. We first recall the mathematical model of the system in terms of its multi-input, multi-output (MIMO) transfer function model acquired via system identification technique. Accordingly, we design three self-tuning autopilots by means of fuzzy inference systems to control the position of the drone in 3D space. This research serves as a preliminary study in our design process to investigate the feasibility of our fuzzy self-tuning autopilot before we can implement it into practice. We perform a systematic comparative study to highlight the effectiveness of our control algorithm with respect to fixed-gain autopilot as well as fuzzy logic controller.
KW - Fuzzy Inference System
KW - Quadcopter Drone
KW - Self-tuning Autopilot
KW - Trajectory Tracking
UR - http://www.scopus.com/inward/record.url?scp=84981250475&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84981250475&partnerID=8YFLogxK
U2 - 10.1109/ICAMIMIA.2015.7508004
DO - 10.1109/ICAMIMIA.2015.7508004
M3 - Conference paper
AN - SCOPUS:84981250475
T3 - ICAMIMIA 2015 - International Conference on Advanced Mechatronics, Intelligent Manufacture, and Industrial Automation, Proceeding - In conjunction with Industrial Mechatronics and Automation Exhibition, IMAE
SP - 64
EP - 69
BT - ICAMIMIA 2015 - International Conference on Advanced Mechatronics, Intelligent Manufacture, and Industrial Automation, Proceeding - In conjunction with Industrial Mechatronics and Automation Exhibition, IMAE
PB - IEEE, Institute of Electrical and Electronics Engineers
Y2 - 15 October 2015 through 16 October 2015
ER -