Title :
A research on quadrotor attitude control based on Fuzzy-PI method
Author :
Siyuan, Cheng ; Ting, Zhang ; Yanchun, Chang ; Jianliang, Chen ; Junyi, Shu ; Jin, Liu
Author_Institution :
Sch. of Autom., Beijing Inst. of Technol., Beijing, China
Abstract :
Quadrotor is a kind of common helicopter, which has non-linear and multi-variable coupling characteristics. Based on the simplified mathematical model of quadrotor, the attitude control can be divided into several parts, which are independent each other. Developing the traditional PID controller, a Fuzzy-PI controller is designed by combining a fuzzy controller with a PI controller. The simulation results show that the new Fuzzy-PI method not only satisfies static-state accuracy, but is better than the traditional PID controller in over shoot value, rise time and transition time of quadrotor attitude control system.
Keywords :
PI control; aircraft control; attitude control; control system synthesis; fuzzy control; helicopters; rotors; PID controller; fuzzy-PI method-based quadrotor attitude control system design; nonlinear coupling characteristics; over shoot value; quadrotor mathematical model; rise time; static-state accuracy; transition time; Hafnium; Attitude Control; Fuzzy-PI; Quadrotor;
Conference_Titel :
Control Conference (CCC), 2012 31st Chinese
Conference_Location :
Hefei
Print_ISBN :
978-1-4673-2581-3
