Simplified fuzzy-PD controller for behavior mixing and improved performance in quadcopter attitude control systems

Juan Augusto Paredes; Cristhian Jacinto; Renzo Ramírez; Ismael Vargas; Luis Trujillano

Simplified fuzzy-PD controller for behavior mixing and improved performance in quadcopter attitude control systems

Juan Augusto Paredes, Cristhian Jacinto, Renzo Ramírez, Ismael Vargas, Luis Trujillano

Sección de Ingeniería Mecánica

Pontificia Universidad Catolica del Peru

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Scopus citations

Abstract

Quadcopters have recently become popular UAV systems due to the simplicity of their structure. PID controllers are simple and effective enough to stabilize and control this nonlinear dynamic system in hover operations; however, these are quite restrictive due to their linear nature. Therefore, in an attempt to extend the scope of use of these controllers and keep their intuitiveness, a Fuzzy-PD Controller structure is proposed with the purpose of combining the behaviors of several PD controller configurations. Moreover, a comparison will be established between the behavior and performance of differently configured PD controllers and a Fuzzy-PD Controller that incorporates their functionality depending on error input.

Original language	Spanish
Title of host publication	Proceedings of the 2016 IEEE ANDESCON, ANDESCON 2016
State	Published - 27 Jan 2017

Cite this

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title = "Simplified fuzzy-PD controller for behavior mixing and improved performance in quadcopter attitude control systems",

abstract = "Quadcopters have recently become popular UAV systems due to the simplicity of their structure. PID controllers are simple and effective enough to stabilize and control this nonlinear dynamic system in hover operations; however, these are quite restrictive due to their linear nature. Therefore, in an attempt to extend the scope of use of these controllers and keep their intuitiveness, a Fuzzy-PD Controller structure is proposed with the purpose of combining the behaviors of several PD controller configurations. Moreover, a comparison will be established between the behavior and performance of differently configured PD controllers and a Fuzzy-PD Controller that incorporates their functionality depending on error input.",

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AU - Paredes, Juan Augusto

AU - Jacinto, Cristhian

AU - Ramírez, Renzo

AU - Vargas, Ismael

AU - Trujillano, Luis

PY - 2017/1/27

Y1 - 2017/1/27

N2 - Quadcopters have recently become popular UAV systems due to the simplicity of their structure. PID controllers are simple and effective enough to stabilize and control this nonlinear dynamic system in hover operations; however, these are quite restrictive due to their linear nature. Therefore, in an attempt to extend the scope of use of these controllers and keep their intuitiveness, a Fuzzy-PD Controller structure is proposed with the purpose of combining the behaviors of several PD controller configurations. Moreover, a comparison will be established between the behavior and performance of differently configured PD controllers and a Fuzzy-PD Controller that incorporates their functionality depending on error input.

AB - Quadcopters have recently become popular UAV systems due to the simplicity of their structure. PID controllers are simple and effective enough to stabilize and control this nonlinear dynamic system in hover operations; however, these are quite restrictive due to their linear nature. Therefore, in an attempt to extend the scope of use of these controllers and keep their intuitiveness, a Fuzzy-PD Controller structure is proposed with the purpose of combining the behaviors of several PD controller configurations. Moreover, a comparison will be established between the behavior and performance of differently configured PD controllers and a Fuzzy-PD Controller that incorporates their functionality depending on error input.

M3 - Contribución a la conferencia

BT - Proceedings of the 2016 IEEE ANDESCON, ANDESCON 2016

ER -