Fuzzy logic based pid control of quadcopter altitude and attitude stabilization

This paper presents the development and implementation fuzzy logic based PID control algorithm for a quadcopter system. The quadcopter consists four motors with four propellers placed on the ends. The rotors are directed upwards and they are placed in a square formation with equal distance from the...

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Main Author:	Mohammed Mansour, Mohammed Ahmed
Format:	Thesis
Language:	English
Published:	2018
Subjects:	TK Electrical engineering Electronics Nuclear engineering
Online Access:	http://eprints.utm.my/id/eprint/79298/1/MohammedAhmedMFKE2018.pdf
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id	my-utm-ep.79298
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spelling	my-utm-ep.792982018-10-14T08:42:07Z Fuzzy logic based pid control of quadcopter altitude and attitude stabilization 2018 Mohammed Mansour, Mohammed Ahmed TK Electrical engineering. Electronics Nuclear engineering This paper presents the development and implementation fuzzy logic based PID control algorithm for a quadcopter system. The quadcopter consists four motors with four propellers placed on the ends. The rotors are directed upwards and they are placed in a square formation with equal distance from the center of mass of the quadcopter. Four different scenarios are presented: altitude movement, pitch, roll and yaw angle. For the all cases 6-DOF model is derived and used. The quadcopter can be perceived as a challenging control problem due to its high nonlinearity, even with four motors it is underactuated and cannot move translative without rotating about one of its axes. The main objective of the controller is to propose a suitable solution for the problem associated with the control of quadcopter. A fuzzy controller was designed according to the process characteristics. The simulation results were carried out in MATLAB/SIMULINK. The corresponding figures and simulation results are presented. The performance of suggested fuzzy controllers is discussed and analysed. Comparing the performance of the proportional and derivative (PD) controller tuned by Zeiger-Nichols method and proportional, integral and derivative (PID) tuned by partial swarm optimization (PSO) results depict that fuzzy logic based PID controller give a better performance in terms of transient responses, steady state responses and overshoot error. 2018 Thesis http://eprints.utm.my/id/eprint/79298/ http://eprints.utm.my/id/eprint/79298/1/MohammedAhmedMFKE2018.pdf application/pdf en public masters Universiti Teknologi Malaysia, Faculty of Electrical Engineering Faculty of Electrical Engineering
institution	Universiti Teknologi Malaysia
collection	UTM Institutional Repository
language	English
topic	TK Electrical engineering Electronics Nuclear engineering
spellingShingle	TK Electrical engineering Electronics Nuclear engineering Mohammed Mansour, Mohammed Ahmed Fuzzy logic based pid control of quadcopter altitude and attitude stabilization
description	This paper presents the development and implementation fuzzy logic based PID control algorithm for a quadcopter system. The quadcopter consists four motors with four propellers placed on the ends. The rotors are directed upwards and they are placed in a square formation with equal distance from the center of mass of the quadcopter. Four different scenarios are presented: altitude movement, pitch, roll and yaw angle. For the all cases 6-DOF model is derived and used. The quadcopter can be perceived as a challenging control problem due to its high nonlinearity, even with four motors it is underactuated and cannot move translative without rotating about one of its axes. The main objective of the controller is to propose a suitable solution for the problem associated with the control of quadcopter. A fuzzy controller was designed according to the process characteristics. The simulation results were carried out in MATLAB/SIMULINK. The corresponding figures and simulation results are presented. The performance of suggested fuzzy controllers is discussed and analysed. Comparing the performance of the proportional and derivative (PD) controller tuned by Zeiger-Nichols method and proportional, integral and derivative (PID) tuned by partial swarm optimization (PSO) results depict that fuzzy logic based PID controller give a better performance in terms of transient responses, steady state responses and overshoot error.
format	Thesis
qualification_level	Master's degree
author	Mohammed Mansour, Mohammed Ahmed
author_facet	Mohammed Mansour, Mohammed Ahmed
author_sort	Mohammed Mansour, Mohammed Ahmed
title	Fuzzy logic based pid control of quadcopter altitude and attitude stabilization
title_short	Fuzzy logic based pid control of quadcopter altitude and attitude stabilization
title_full	Fuzzy logic based pid control of quadcopter altitude and attitude stabilization
title_fullStr	Fuzzy logic based pid control of quadcopter altitude and attitude stabilization
title_full_unstemmed	Fuzzy logic based pid control of quadcopter altitude and attitude stabilization
title_sort	fuzzy logic based pid control of quadcopter altitude and attitude stabilization
granting_institution	Universiti Teknologi Malaysia, Faculty of Electrical Engineering
granting_department	Faculty of Electrical Engineering
publishDate	2018
url	http://eprints.utm.my/id/eprint/79298/1/MohammedAhmedMFKE2018.pdf
_version_	1747818194291130368

Fuzzy logic based pid control of quadcopter altitude and attitude stabilization

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