Fuzzy logic-based self-tuning autopilots for trajectory tracking of a low-cost quadcopter: A comparative study

Fendy Santoso, Matthew A. Garratt, Sreenatha G. Anavatti

Research output: Book chapter/Published conference paperConference paperpeer-review

25 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationICAMIMIA 2015 - International Conference on Advanced Mechatronics, Intelligent Manufacture, and Industrial Automation, Proceeding - In conjunction with Industrial Mechatronics and Automation Exhibition, IMAE
PublisherIEEE, Institute of Electrical and Electronics Engineers
Pages64-69
Number of pages6
ISBN (Electronic)9781467373463
DOIs
Publication statusPublished - 08 Jul 2016
Event2015 International Conference on Advanced Mechatronics, Intelligent Manufacture, and Industrial Automation, ICAMIMIA 2015 - Surabaya, Indonesia
Duration: 15 Oct 201516 Oct 2015

Publication series

NameICAMIMIA 2015 - International Conference on Advanced Mechatronics, Intelligent Manufacture, and Industrial Automation, Proceeding - In conjunction with Industrial Mechatronics and Automation Exhibition, IMAE

Conference

Conference2015 International Conference on Advanced Mechatronics, Intelligent Manufacture, and Industrial Automation, ICAMIMIA 2015
Country/TerritoryIndonesia
CitySurabaya
Period15/10/1516/10/15

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