
Attitude Control of a Quadrotor with Fuzzy Logic Controller on SO(3)
Author(s) -
Almido Haryanto Ginting,
Samy Yeverson Doo,
Don E. D. G. Pollo,
Hendrik Djahi,
Evtaleny R. Mauboy
Publication year - 2022
Publication title -
journal of robotics and control/journal of robotics and control (jrc)
Language(s) - English
Resource type - Journals
eISSN - 2715-5072
pISSN - 2715-5056
DOI - 10.18196/jrc.v3i1.12956
Subject(s) - control theory (sociology) , euler angles , quaternion , controller (irrigation) , attitude control , rotation (mathematics) , fuzzy logic , rotation matrix , angular velocity , torque , computer science , mathematics , control engineering , control (management) , engineering , physics , artificial intelligence , geometry , classical mechanics , agronomy , biology , thermodynamics
A quadrotor is an unmanned aerial vehicle (UAV) with two pairs of rotors rotating in opposite directions. Some of its unique abilities are hovering and vertical take-off and landing (VTOL). Most recent works carried out the UAVs' rotation parametrization using Euler angles and a quaternion. Those UAVs suffer from singularities and ambiguities. A geometric control is generally used to deal with those problems. Exponential coordinate in the geometric control maps R3 into SO(3). This paper presented a fuzzy logic controller on SO(3) to control the attitude of the quadrotor. The input of the fuzzy logic controller is the angular velocity (ω) and exponential coordinate error of rotation (ζ), while the output is torque (τ). The error function in this controller is a rotation matrix on SO(3). This proposed controller can control the attitude of the quadrotor based on the expected attitude for maneuvers both on one axis and all axis with a steady-state error of about 0.02 rad.