Control of a Quadrotor Using a Smart Self-Tuning Fuzzy PID Controller. (5th November 2013)

• Record Type: Journal Article
• Authors: Gautam, Deepak; Ha, Cheolkeun
• Is Part Of: International journal of advanced robotic systems. Volume 10:Number 11(2013)
• Publication Date: 2013-11-05
• Subjects: Quadrotor -- PID -- Fuzzy -- Extended Kalman Filter -- Self-Tuning -- Smart Selection; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.5772/56911
• Languages: English
• ISSNs: 1729-8806

Abstract

This paper deals with the modelling, simulation-based controller design and path planning of a four rotor helicopter known as a quadrotor. All the drags, aerodynamic, coriolis and gyroscopic effect are neglected. A Newton-Euler formulation is used to derive the mathematical model. A smart self-tuning fuzzy PID controller based on an EKF algorithm is proposed for the attitude and position control of the quadrotor. The PID gains are tuned using a self-tuning fuzzy algorithm. The self-tuning of fuzzy parameters is achieved based on an EKF algorithm. A smart selection technique and exclusive tuning of active fuzzy parameters is proposed to reduce the computational time. Dijkstra's algorithm is used for path planning in a closed and known environment filled with obstacles and/or boundaries. The Dijkstra algorithm helps avoid obstacle and find the shortest route from a given initial position to the final position.