NDLI: Attitude Stabilization of Quadrotor Using Adaptive Fuzzy Proportional Integral Derivative Controller

Please wait, while we are loading the content...

Attitude Stabilization of Quadrotor Using Adaptive Fuzzy Proportional Integral Derivative Controller

Content Provider	Semantic Scholar
Author	Chehardoli, Hossein Ghasemi, Abdorasoul Fardrahnama, Sepehr
Copyright Year	2020
Abstract	Quadrotor is an unmanned aerial robot from multi-rotor drones group that has high maneuverability, vertical take-off and landing and stationary flight capabilities. In the most practical applications, quadrotor system is subjected to external disturbance forces due to wind and unbalanced weight or inertia of the payload. In order to maintain balance and hold the position, attitude stabilization of quadrotor is necessary in the presence of disturbances and unbalanced forces. Using conventional controllers with constant gains is not very efficient to eliminate variable disturbances that affect quadrotor motion in different conditions. In this paper, an adaptive fuzzy proportional integral derivative controller is designed for quadrotor attitude stabilization in which controller gains are regulated continuously based on the adaptive laws and the fuzzy inference system. The performance of the proposed controller is examined in disturbance rejection test and is compared to conventional proportional integral derivative controller. Also, performance of the proposed controller is approved by hardware in the loop experimental tests using a 3 degree of freedom pilot platform. The experimental results will show the effectiveness on the adaptive fuzzy proportional integral derivative controller compared with the conventional proportional integral derivative controller.
File Format	PDF HTM / HTML
Alternate Webpage(s)	https://mej.aut.ac.ir/?_action=showPDF&_ob=7d196d9790ab548d681f7a62fe997fb1&article=3786&fileName=full_text.pdf&sc=1
Language	English
Access Restriction	Open
Content Type	Text
Resource Type	Article

Central Library (ISO-9001:2015 Certified)
Indian Institute of Technology Kharagpur
Kharagpur, West Bengal, India | PIN - 721302

See location in the Map
03222 282435
Mail: support@ndl.gov.in

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in