Fuzzy PID for Quadrotor Space Fixed-Point Position Control
Quadrotor is widely used in the military or civil,which thanks to its high maneuverability,low maintenance cost and easy research.In real life,space fixed-point position control is necessary and essential because of the outdoor GPS or indoor visual positioning.All kinds of research and development are based on the great control performance.However,under actuated,strong coupling and nonlinear properties makes us cannot get accurate models of quadrotor.How to get a smooth and efficient performance for the quadrotor space fixed-point position control in a variety of conditions attracts a lot of researchers.According to the features of quadrotor,this paper we put forward fuzzy PID controller for space fixed-point position control.This fuzzy PID controller is widely used in cases where mathematical models of system cannot be get in accurate modeling with nonlinear.Based on fuzzy-set theory,fuzzy language variables and fuzzy logic-based intelligent computer control,this make the fuzzy PID have the ability of self-tuning according to the current environment.By comparing the traditional PID and fuzzy PID for quadrotor space fixed-point position control with Matlab simulation and actual flight test,fuzzy PID perform well than traditional PID.
Fuzzy PID Fixed-point Control quadrotor Mathematic Model
Jie MA Ruihang JI
Harbin Institute of Technology Control and Simulation Center Harbin, Heilongjiang province
国际会议
哈尔滨
英文
721-726
2016-07-21（万方平台首次上网日期，不代表论文的发表时间）