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espanolEste trabajo muestra el control de altura del quadrotor AR. Drone 2.0 aplicando logica difusa en un ambiente previamente establecido, tanto en simulacion como en la plataforma real. Se desarrollan tres controladores mediante logica difusa cuyos parametros son obtenidos de los sensores del dron, permitiendose controlar altura y angulos de orientacion (Pitch, Roll y Yaw) siempre y cuando se consideren ciertos niveles de carga de bateria para que el sistema no se vuelva inestable. Para la visualizacion e interaccion con el dron se disena e implementa una interfaz en Matlab® que permite la comunicacion entre el usuario y todas las funciones del sistema, de tal manera que se puede elegir el modo de ejecucion, seguir los parametros de referencia de manera autonoma, almacenar datos para un posterior analisis, y visualizar los desplazamientos para determinar la eficiencia del sistema. EnglishThis paper aims to describe the design and implementation of the height control system for the quadrotor AR. Drone 2.0 making use of a fuzzy logic in a previously established environment. This device has a height control system both in simulation and in the real platform. Three controllers are developed by fuzzy logic whose parameters are obtained from the drone's sensors in such a way that it allows to control height and angles of orientation (Pitch, Roll and Yaw) as long as certain levels of battery charge are considered so that the system does not become unstable. For the visualization and interaction with the drone a Matlab® interface is designed and implemented, that allows communication between the user and all system functions in such a way that the mode of execution can be chosen, follow the reference parameters autonomously, store data for a later analysis, and visualize the displacements to observe the efficiency of system.

Fuzzy control of quadrotor Ar. Drone 2.0 in a controlled environment