Fuzzy controlfor path tracking and obstacle avoidance of a qudrotor flight

M. H. Sabour, A. Kosari, Farhad Ahadi Koloo, K. Shamsi, Morteza Mohammadzaheri

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish
Title of host publicationICEE 2015 - Proceedings of the 23rd Iranian Conference on Electrical Engineering
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages852-857
Number of pages6
Volume10
ISBN (Electronic)9781479919727
DOIs
Publication statusPublished - Jul 1 2015
Event23rd Iranian Conference on Electrical Engineering, ICEE 2015 - Tehran, Iran, Islamic Republic of
Duration: May 10 2015May 14 2015

Other

Other23rd Iranian Conference on Electrical Engineering, ICEE 2015
CountryIran, Islamic Republic of
CityTehran
Period5/10/155/14/15

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Keywords

  • Fuzzy controller
  • Optimized path tracking
  • Quadrotor

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Sabour, M. H., Kosari, A., Koloo, F. A., Shamsi, K., & Mohammadzaheri, M. (2015). Fuzzy controlfor path tracking and obstacle avoidance of a qudrotor flight. In ICEE 2015 - Proceedings of the 23rd Iranian Conference on Electrical Engineering (Vol. 10, pp. 852-857). [7146331] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IranianCEE.2015.7146331