DocumentCode
3666629
Title
Fuzzy adaptive PD control for quadrotor helicopter
Author
Hongwei Gao;Chuanyin Liu;Dongliang Guo;Jinguo Liu
Author_Institution
School of Information Science and Engineering Shenyang Ligong University. SYLU Shenyang, P.R. China
fYear
2015
fDate
6/1/2015 12:00:00 AM
Firstpage
281
Lastpage
286
Abstract
Quadrotor is a strong coupling, under actuated complex system with multi inputs and multi outputs. In this paper, the quadrotor UAV model was presented at first. In order to control the position and attitude respectively, a nested loops control strategy was employed. The full control was divided into two parts, i.e. position control and attitude control. Both a PD controller and a fuzzy adaptive PD control er were designed. Finally, in order to give the comparison results, a quadrotor simulation system was set up in Matlab Simulink.
Keywords
"PD control","Rotors","Attitude control","Adaptation models","Mathematical model","Helicopters"
Publisher
ieee
Conference_Titel
Cyber Technology in Automation, Control, and Intelligent Systems (CYBER), 2015 IEEE International Conference on
Print_ISBN
978-1-4799-8728-3
Type
conf
DOI
10.1109/CYBER.2015.7287949
Filename
7287949
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