Author/Authors :
Zare، Mehdi نويسنده Graduate student, Department of Mechanical Engineering, University of Sistan and Baluchestan, Zahedan, Iran. , , Sadeghi، Jafar نويسنده Assistant Professor, Department of Chemical Engineering, University of Sistan and Baluchestan, Zahedan, Iran. , , Farahat، Said نويسنده Associate Professor, Department of Mechanical Engineering, University of Sistan and Baluchestan, Zahedan, Iran. , , Zakeri، Ehsan نويسنده MSc Student ,
Abstract :
In recent years, most of researchers attempt to replace manpower with robots because of their ability to do repetitive work and also their accuracy in critical condition. Unmanned Aerial Vehicles (UAVs) are attained more attention for their advantages rather than other kind of manned aerial vehicles (MAVs). Quadrotor is a special kind of UAVs with simple mechanical structure and high maneuverability for excellence. Also, quadrotor is a 6-DOF (six degree of freedom) system with high nonlinearity in terms of dynamic equations equipped by four rotors. Consequently, there is the nonlinear under-actuated system with 6-DOF and four angular speeds as system input. Although the high nonlinearity nature of system dynamic cause some difficultly in controlling process, this can be helpful in some cases which quick response is needed. Therefore, the aim of this study is to plan such controller which is able to provide all maneuvers in all reachable direction (maneuvers in all altitude and attitude). In this study, the model of system is considered as Multiple Input-Multiple Output (MIMO) and three fuzzy logic controllers (FLC) are proposed to make system regulated with constant value and tracked with helix path. Finally, results indicate good performance in both regulation and tracking purpose.
