Fuzzy controlfor path tracking and obstacle avoidance of a qudrotor flight

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

doi:10.1109/IranianCEE.2015.7146331

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 proceeding › Conference contribution

1 Citation (Scopus)

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 language	English
Title of host publication	ICEE 2015 - Proceedings of the 23rd Iranian Conference on Electrical Engineering
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	852-857
Number of pages	6
ISBN (Electronic)	9781479919727
DOIs	https://doi.org/10.1109/IranianCEE.2015.7146331
Publication status	Published - Jul 1 2015
Externally published	Yes
Event	23rd Iranian Conference on Electrical Engineering, ICEE 2015 - Tehran, Iran, Islamic Republic of Duration: May 10 2015 → May 14 2015

Publication series

Name	ICEE 2015 - Proceedings of the 23rd Iranian Conference on Electrical Engineering
Volume	10

Other

Other	23rd Iranian Conference on Electrical Engineering, ICEE 2015
Country/Territory	Iran, Islamic Republic of
City	Tehran
Period	5/10/15 → 5/14/15

Keywords

Fuzzy controller
Optimized path tracking
Quadrotor

ASJC Scopus subject areas

Electrical and Electronic Engineering

Access to Document

10.1109/IranianCEE.2015.7146331

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 (pp. 852-857). Article 7146331 (ICEE 2015 - Proceedings of the 23rd Iranian Conference on Electrical Engineering; Vol. 10). 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 et al.
ICEE 2015 - Proceedings of the 23rd Iranian Conference on Electrical Engineering. Institute of Electrical and Electronics Engineers Inc., 2015. p. 852-857 7146331 (ICEE 2015 - Proceedings of the 23rd Iranian Conference on Electrical Engineering; Vol. 10).

Research output: Chapter in Book/Report/Conference proceeding › Conference 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., 7146331, ICEE 2015 - Proceedings of the 23rd Iranian Conference on Electrical Engineering, vol. 10, 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. Institute of Electrical and Electronics Engineers Inc. 2015. p. 852-857. 7146331. (ICEE 2015 - Proceedings of the 23rd Iranian Conference on Electrical Engineering). doi: 10.1109/IranianCEE.2015.7146331

Sabour, M. H. ; Kosari, A. ; Koloo, Farhad Ahadi et al. / Fuzzy controlfor path tracking and obstacle avoidance of a qudrotor flight. ICEE 2015 - Proceedings of the 23rd Iranian Conference on Electrical Engineering. Institute of Electrical and Electronics Engineers Inc., 2015. pp. 852-857 (ICEE 2015 - Proceedings of the 23rd Iranian Conference on Electrical Engineering).

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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.",

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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.

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Fuzzy controlfor path tracking and obstacle avoidance of a qudrotor flight

Abstract

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Keywords

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