Stabilisation and steering of quadrocopters using fuzzy logic regulators

Authors:
Boguslaw Szlachetko;Michal Lower
Affiliations:
Institute of Telecommunication, Teleinformatics and Acoustics, Wroclaw University of Technology, Wroclaw, Poland;Institute of Computer Engineering, Control and Robotics, Wroclaw University of Technology, Wroclaw, Poland
Venue:
ICAISC'12 Proceedings of the 11th international conference on Artificial Intelligence and Soft Computing - Volume Part I
Year:
2012

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Abstract

The cascaded fuzzy controller system for quadrocopter was developed on the basis of computer simulations. The mathematical model of quadrocopter and its cascaded fuzzy controller were simulated using Matlab Simulink software. The proposed controller was tested in most frequent flight circumstances: in hover, in rectilinear flight with constant speed, in climbing and in rotation. In all these situations the proposed controller was able to provide foreseeable behavior of the quadrocopter.