Open AccessDesign of Decoupling Fuzzy Logic Controller for Quadrotor UAV
Author(s) -
Chao Huang
Publication year - 2020
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1684/1/012155
Subject(s) - control theory (sociology) , decoupling (probability) , fuzzy logic , control engineering , computer science , inner loop , matlab , linearization , euler angles , controller (irrigation) , attitude control , engineering , nonlinear system , control (management) , artificial intelligence , mathematics , agronomy , physics , geometry , quantum mechanics , biology , operating system
This article first briefly introduces the quadrotor UAV model based on the Newton-Euler method, including kinematics model, dynamic model and force and moment model, and then proposes a decoupling fuzzy controller, which can effectively decouple the position and the orientation of the quadrotor UAV, i.e., the inner loop uses the input and output linearization method to control orientation, and the outer loop uses a fuzzy logic controller to control the position of the quadrotor UAV. Finally, we use Matlab to model the quadrotor UAV and design the decoupling fuzzy controller to control the quadrotor UAV. The results show that the tracking performance is good, which proves the feasibility of the controller algorithm.