| Title: | GS2-2 Modeling and Control of a Quadrotor Vehicle Subject to Disturbance Load |
|---|---|
| Publication: | ICAROB2017 |
| Volume: | 22 |
| Pages: | 350-355 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2017.GS2-2 |
| Author(s): | Jun Wang, Song Xin, Yuxi Zhang |
| Publication Date: | January 19, 2017 |
| Keywords: | Disturbance load, Dynamic model, Fuzzy logic controller, PID, Quadrotor |
| Abstract: | In this paper, a dynamic model of quadrotor vehicle is derived for theoretic and practical evaluation. Four transfer functions in different channels are converted from the state equations. To study the behavior of quadrotor subject to the external disturbance load, the FLC (fuzzy logic controller) is designed to compare with the PID (proportionalintegral-derivative) controller. Subsequently, Liapounov function is applied for stability analysis. Finally, simulation results are presented to illustrate the performance between FLC and PID. Considering model error, the evaluation simulations are divided into two parts, which describe the ability for rejecting external disturbance, setpoint tracking and disturbance rejection respectively. The simulation scheme demonstrates the FLC method outperforms the PID control scheme. |
| PDF File: | https://alife-robotics.co.jp/members2017/icarob/data/html/data/GS_pdf/GS2/GS2-2.pdf |
| Copyright: | © The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/ |
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