A quadrotor is an unmanned aerial vehicle (UAV) with two pairs of rotors rotating in opposite directions. Some of its unique abilities are hovering and vertical take-off and landing (VTOL). Most recent works carried out the UAVs' rotation parametrization using Euler angles and a quaternion. Those UAVs suffer from singularities and ambiguities. A geometric control is generally used to deal with those problems. Exponential coordinate in the geometric control maps R3 into SO(3). This paper presented a fuzzy logic controller on SO(3) to control the attitude of the quadrotor. The input of the fuzzy logic controller is the angular velocity (ω) and exponential coordinate error of rotation (ζ), while the output is torque (τ). The error function in this controller is a rotation matrix on SO(3). This proposed controller can control the attitude of the quadrotor based on the expected attitude for maneuvers both on one axis and all axis with a steady-state error of about 0.02 rad.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Attitude Control of a Quadrotor with Fuzzy Logic Controller on SO(3)


    Beteiligte:

    Erscheinungsdatum :

    2022-01-13


    Anmerkungen:

    doi:10.18196/jrc.v3i1.12956
    Journal of Robotics and Control (JRC); Vol 3, No 1 (2022): January; 101-106 ; 2715-5072 ; 2715-5056



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629




    Fuzzy logic based quadrotor flight controller

    Raza, Syed Ali / Gueaieb, Wail | Tema Archiv | 2009


    Trajectory Tracking of AR.Drone Quadrotor Using Fuzzy Logic Controller

    Prayitno, Agung / Indrawati, Veronica / Utomo, Gabriel | BASE | 2014

    Freier Zugriff

    Waypoint Navigation of AR.Drone Quadrotor Using Fuzzy Logic Controller

    Indrawati, Veronica / Prayitno, Agung / Kusuma, Thomas Ardi | BASE | 2015

    Freier Zugriff

    Attitude control of a quadrotor

    Dikmen, I.C. / Arisoy, A. / Temeltas, H. | Tema Archiv | 2009


    Fuzzy Logic Controller Using the Nonholonomic Constraints for Quadrotor Trajectory Tracking

    Ali Medjghou / Noureddine Slimane / Kheireddine Chafaa | BASE | 2022

    Freier Zugriff