TY - GEN
T1 - Fuzzy controlfor path tracking and obstacle avoidance of a qudrotor flight
AU - Sabour, M. H.
AU - Kosari, A.
AU - Koloo, Farhad Ahadi
AU - Shamsi, K.
AU - Mohammadzaheri, Morteza
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/7/1
Y1 - 2015/7/1
N2 - Fuzzy gain-scheduling is one of the prominent procedures of fuzzy controller design which is employed to control a nonlinear model of a Quadrotor in this article. For this purpose, a set of intuitively designed linguistic rules is developed for the Quadrotor to track an optimal path obtained through direct collocation method. The fuzzy controller is shown to exhibit excellent tracking performance. In addition, the effect of importing drag force as a nonlinear term in dynamics equations in model accuracy and performance of fuzzy controller has been investigated.
AB - Fuzzy gain-scheduling is one of the prominent procedures of fuzzy controller design which is employed to control a nonlinear model of a Quadrotor in this article. For this purpose, a set of intuitively designed linguistic rules is developed for the Quadrotor to track an optimal path obtained through direct collocation method. The fuzzy controller is shown to exhibit excellent tracking performance. In addition, the effect of importing drag force as a nonlinear term in dynamics equations in model accuracy and performance of fuzzy controller has been investigated.
KW - Fuzzy controller
KW - Optimized path tracking
KW - Quadrotor
UR - http://www.scopus.com/inward/record.url?scp=84990946293&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84990946293&partnerID=8YFLogxK
U2 - 10.1109/IranianCEE.2015.7146331
DO - 10.1109/IranianCEE.2015.7146331
M3 - Conference contribution
AN - SCOPUS:84990946293
T3 - ICEE 2015 - Proceedings of the 23rd Iranian Conference on Electrical Engineering
SP - 852
EP - 857
BT - ICEE 2015 - Proceedings of the 23rd Iranian Conference on Electrical Engineering
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 23rd Iranian Conference on Electrical Engineering, ICEE 2015
Y2 - 10 May 2015 through 14 May 2015
ER -