International Journal of Advanced and Applied Sciences
Int. j. adv. appl. sci.
EISSN: 2313-3724
Print ISSN:2313-626X
Volume 3, Issue 8 (August 2016), Pages: 43-51
Title: Tracking control of an unmanned aerial vehicle using cascade configuration of fuzzy logic controllers in presence of windflaw
Authors: Mehdi Zare 1, *, Ehsan Zakeri 2, Jafar Sadeghi 3, Said Farahat 1
Affiliation(s):
1Department of Mechanical Engineering, University of Sistan and Baluchestan, Zahedan, Iran
2Young Researchers and Elite Club, Shiraz Branch, Islamic Azad University, Shiraz, Iran
3Department of Chemical Engineering, University of Sistan and Baluchestan, Zahedan, Iran
http://dx.doi.org/10.21833/ijaas.2016.08.008
Abstract:
In this study, an unmanned aerial vehicle (UAV), quadrotor particularly, with six degree of freedom (6-DOF) is modeled and a novel arrangement of fuzzy logic controller (FLC) are designed to control quadrotor’s attitude and altitude. The UAVs are high nonlinear in terms of dynamic equations and are in class of under-actuated systems with six degree of freedom and four propeller’s speed as inputs. So, designing an appropriate controller is the main challenge in UAV’s applications. The controller architectures is composed of three FLCs. A MIMO FLC is implemented to control angles and altitude which is fed by two first output controllers, namely desired roll and pitch angles. Then, an octagonal helix path is constructed in such a way that an octagonal schema is generated in X-Y plane and is developed in vertical direction. By applying the windflaw to the system as a disturbance, which is blew in three directions, namely x, y, and z, the performance of designed controller is investigated. Finally, results are presented to show the controller performance for tracking purpose in presence of a wind as disturbance.
© 2016 The Authors. Published by IASE.
This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/).
Keywords: Fuzzy logic controller, Octagonal helix path, Quadrotor, UAV, Under-actuated system
Article History: Received 9 June 2016, Received in revised form 3 August 2016, Accepted 16 August 2016
Digital Object Identifier: http://dx.doi.org/10.21833/ijaas.2016.08.008
Citation:
Zare M, Zakeri E, Sadeghi J, and Farahat S (2016). Tracking control of an unmanned aerial vehicle using cascade configuration of fuzzy logic controllers in presence of windflaw. International Journal of Advanced and Applied Sciences, 3(8): 43-51
http://www.science-gate.com/IJAAS/V3I8/Zare.html
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