Fuzzy LogicFuzzy LogicControl of QuadrotorControl of Quadrotor

Intelligent Systems Intelligent Systems

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Soft ComputingSoft Computing503051621503051621

K. OYTUN YAPICIK. OYTUN YAPICI503051619503051619

BİRKAN TUNÇBİRKAN TUNÇ

QUADROTOR CONCEPTQUADROTOR CONCEPT

Rotate LeftRotate Left Rotate RightRotate Right

Going UpGoing Up Move RightMove Right1

A quadrotor has four motors located at the front, rear, left, and right ends of a cross frame. The quadrotor is controlled by changing the speed of rotation of each motor. The front and rear rotors rotate in a counter-clockwise direction while the left and right rotors rotate in a clockwise direction to balance the torque created by the spinning rotors.

DYNAMIC MODELDYNAMIC MODEL

2

C: Force to Moment Scaling Factor

PROPERTIES OF DYNAMIC MODELPROPERTIES OF DYNAMIC MODEL, PHYSICAL PHYSICAL VALUES & CONSTRAINTSVALUES & CONSTRAINTS

Physical Values: Constraints:

To avoid crash

is required. This is restricted with the outputs of the fuzzy logic controllers.

3

• Rotations are not affected by translations.

• Angular subsystem is linear.

• System is underactuated.

• System has coupling effects.

• System is unstable.

CONTROL STRATEGYCONTROL STRATEGY

4

Angular Angular SubsystemSubsystem

TranslationalTranslationalSubsystemSubsystem

X

Z

Y

θ

Total Thrust

Fx

Fz

• Angular subsystem will be controlled independent from translational subsystem with 3 fuzzy logic controllers.

• X and Y motion will be controlled through the angles θ and ψ with 2 fuzzy logic controllers.

• Z motion will be controlled with one fuzzy logic controller.

X AND Y CONTROLLERX AND Y CONTROLLER

5

ErrorError

Change of ErrorChange of Error

θθ , , ΨΨ

General Properties of FLCsGeneral Properties of FLCs

• Mamdani type inference

• Max-min composition

• Center of gravity defuzzification

• Two inputs, one output

• 9 rules

• Triangular MFs

θθ AND AND ΨΨ CONTROLLER CONTROLLER

6

ErrorError

Change of ErrorChange of ErrorRule BaseRule Base

U2 , U3U2 , U3

ΦΦ AND AND Z CONTROLLERZ CONTROLLER

7

ErrorError Change of ErrorChange of Error U4U4

ErrorError Change of ErrorChange of Error U1U1

SIMULINK BLOCK DIAGRAMSIMULINK BLOCK DIAGRAM

8

x

y

z

9

ANIMATION 1ANIMATION 1

x

y

z

10

ANIMATION 2ANIMATION 2

QUESTIONS ???QUESTIONS ???