کنفرانس مهندسی برق ایران

صفحه اصلی / سی و دومین کنفرانس بین المللی مهندسی برق

Design and Simulation of a Flight Control System for a Quadcopter using Fuzzy-PID Controller

نویسندگان :

Seyedeh Mahsa Zakipour Bahambari¹ Mojtaba Mohsen Haghighi² Saeed Khankalantary³

1- دانشگاه خواجه نصیر الدین طوسی 2- دانشگاه خواجه نصیر الدین طوسی 3- دانشگاه صنعتی خواجه نصیرالدین طوسی

کلمات کلیدی :

Quadcopter،PID Controller،Fuzzy-PID Controller،Disturbance،Attitude and Altitude Control

چکیده :

Trajectory tracking is an appealing application for quadcopters, albeit a highly complex and challenging research domain due to the intricate dynamics of these aerial vehicles. Several control algorithms have been developed to stabilize quadcopters along specific trajectories, as their ability to precisely follow such paths is limited. This study introduces a fuzzy-PID controller designed to stabilize the quadcopter along a predefined trajectory, utilizing speed information as input. The proposed controller is compared against a traditional PID controller in MATLAB/Simulink to assess their respective performance. The simulation results reveal that, across various trajectories, the fuzzy-PID controller exhibits a superior response compared to the classical PID controller. To delve deeper into the analysis, disturbances were introduced on each axis in the model to examine how each control system responds. Based on the simulation results, it's evident that the Fuzzy-PID controller showcases smaller errors compared to the PID controller and displays superior capability in rejecting disturbances. Furthermore, the fuzzy-PID controllers exhibit heightened stability, particularly when disturbances are introduced.