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      Integrated Design of Adaptive & Fuzzy Logic Control for Trajectory Tracking of 2 DOF Quadrotor

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      ScienceOpen Preprints
      ScienceOpen
      Quadrotor, Adaptive fuzzy, Fuzzy logic, PID
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            Abstract

            Accurate and precise trajectory tracking is crucial for a quadrotor to operate in disturbed environments. This paper presents a novel tracking hybrid controller for a quadrotor UAV that combines the Adaptive and Fuzzy logic controller. The Adaptive fuzzy controller is implemented to govern the behavior of two degrees of freedom quadrotor UAV. The proposed controller allows controlling the movement of UAVs to track a given trajectory in a 2D vertical plane. The Fuzzy Logic system provides an automatic adjustment of the Adaptive parameters to reduce tracking errors and improve the quality of the controller. The results showed perfect behavior for the control law to control a quadrotor trajectory tracking task. To show the effectiveness of the intelligent controller, simulation results are given to confirm the advantages of the proposed control method, compared with Fuzzy and Proportional integral derivative (PID) control methods.

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            Author and article information

            Journal
            ScienceOpen Preprints
            ScienceOpen
            27 September 2021
            Affiliations
            [1 ] Dire Dawa University, Dire Dawa, Ethiopia
            Author notes
            Article
            10.14293/S2199-1006.1.SOR-.PP0XJNG.v1
            985c48e6-6953-4505-b6be-3c593aef377b

            This work has been published open access under Creative Commons Attribution License CC BY 4.0 , which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. Conditions, terms of use and publishing policy can be found at www.scienceopen.com .


            All data generated or analysed during this study are included in this published article (and its supplementary information files).
            Electrical engineering
            Quadrotor,Adaptive fuzzy,Fuzzy logic,PID

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