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

Fingerprint

Collision avoidance
Controllers
Linguistics
Drag
Scheduling

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

Fuzzy controlfor path tracking and obstacle avoidance of a qudrotor flight. / Sabour, M. H.; Kosari, A.; Koloo, Farhad Ahadi; Shamsi, K.; Mohammadzaheri, Morteza.

ICEE 2015 - Proceedings of the 23rd Iranian Conference on Electrical Engineering. Vol. 10 Institute of Electrical and Electronics Engineers Inc., 2015. p. 852-857 7146331.

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

Sabour, MH, Kosari, A, Koloo, FA, 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, 7146331, Institute of Electrical and Electronics Engineers Inc., pp. 852-857, 23rd Iranian Conference on Electrical Engineering, ICEE 2015, Tehran, Iran, Islamic Republic of, 5/10/15. https://doi.org/10.1109/IranianCEE.2015.7146331
Sabour MH, Kosari A, Koloo FA, Shamsi K, Mohammadzaheri M. 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. Institute of Electrical and Electronics Engineers Inc. 2015. p. 852-857. 7146331 https://doi.org/10.1109/IranianCEE.2015.7146331
Sabour, M. H. ; Kosari, A. ; Koloo, Farhad Ahadi ; Shamsi, K. ; Mohammadzaheri, Morteza. / Fuzzy controlfor path tracking and obstacle avoidance of a qudrotor flight. ICEE 2015 - Proceedings of the 23rd Iranian Conference on Electrical Engineering. Vol. 10 Institute of Electrical and Electronics Engineers Inc., 2015. pp. 852-857
@inproceedings{3a74046ba964412882d13ec45a081890,
title = "Fuzzy controlfor path tracking and obstacle avoidance of a qudrotor flight",
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.",
keywords = "Fuzzy controller, Optimized path tracking, Quadrotor",
author = "Sabour, {M. H.} and A. Kosari and Koloo, {Farhad Ahadi} and K. Shamsi and Morteza Mohammadzaheri",
year = "2015",
month = "7",
day = "1",
doi = "10.1109/IranianCEE.2015.7146331",
language = "English",
volume = "10",
pages = "852--857",
booktitle = "ICEE 2015 - Proceedings of the 23rd Iranian Conference on Electrical Engineering",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
address = "United States",

}

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

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

VL - 10

SP - 852

EP - 857

BT - ICEE 2015 - Proceedings of the 23rd Iranian Conference on Electrical Engineering

PB - Institute of Electrical and Electronics Engineers Inc.

ER -