Design of Fuzzy Integral Backstepping Controller for Quadrotor And Tracking Flight path
- سال انتشار: 1397
- محل انتشار: کنفرانس بین المللی برق، کامپیوتر و مکانیک ایران
- کد COI اختصاصی: ECMCONF01_100
- زبان مقاله: انگلیسی
- تعداد مشاهده: 686
نویسندگان
Department of Electrical Engineering, Shahid Sattari Aeronautical University of Science and Technology, Tehran, Iran
Department of Electrical Engineering, Damavand science and Research Branch, Islamic Azad University, Damavand, Iran
چکیده
Quadrotor is one type of UAV for which a non-linear control model has been designed due to quadrotor in thispaper. In this article, firstly the manner of quadrotor’s movement has been discussed, and then quadrotor dynamicmodel and rotational equations which are based on the Newton Euler method have neen investigated. Moreover,quadrotor torques, transfer equations, and state space have been investigated. In this study, 6 degrees of quadrotorfreedom has been explored and compared by using three controllers 1) BS controller and 2) IBS and the last ofFIBS, including behavior and quadrotor altitude. Control model for quadrotor not only controls the threecontrollers of quadrotor act, that includes rotation around the axis (X, Y, Z), but also controls one controller ofquadrotor altitude. In the next part, two controllers of disturbance have been added to control systems. Finally, theflight path would be continued by the controllers in spite of disturbance. In this paper desing three controller thatone by one is good and suitable for quad rotor but at the end FIBS is more stable than the other controller.کلیدواژه ها
Quadrotor, Backstepping, Integral Backstepping, Fuzzy Integral Backstepping, Flight pathمقالات مرتبط جدید
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