Integrated Design of Adaptive & Fuzzy Logic Control for Trajectory Tracking of 2 DOF Quadrotor

ScienceOpen 7 (3):1-16 (2021)
  Copy   BIBTEX

Abstract

Accurate and precise trajectory tracking is crucial for a quadrotor to operate in disturbed environments. This paper presents a novel tracking hybrid controller for a quadrotor UAV that combines the Adaptive and Fuzzy logic controller. The Adaptive fuzzy controller is implemented to govern the behavior of two degrees of freedom quadrotor UAV. The proposed controller allows controlling the movement of UAVs to track a given trajectory in a 2D vertical plane. The Fuzzy Logic system provides an automatic adjustment of the Adaptive parameters to reduce tracking errors and improve the quality of the controller. The results showed perfect behavior for the control law to control a quadrotor trajectory tracking task. To show the effectiveness of the intelligent controller, simulation results are given to confirm the advantages of the proposed control method, compared with Fuzzy and Proportional integral derivative (PID) control methods.

Author's Profile

Mustefa Jibril
Dire Dawa University

Analytics

Added to PP
2021-09-27

Downloads
179 (#69,151)

6 months
65 (#58,433)

Historical graph of downloads since first upload
This graph includes both downloads from PhilArchive and clicks on external links on PhilPapers.
How can I increase my downloads?