Modeling and Simulation of Quadcopter Using Self-tuning Fuzzy-PI Controller
Book chapter
Fekik, A., Azar, A. T., Hamida, M. L., Denoun, H., Mohandsaidi, S., Bousbaine, A., Kamal, N. A., Ibraheem, I. K., Humaidi, A. J., Al Mhdawi, A. K. and Khamis, A. 2023. Modeling and Simulation of Quadcopter Using Self-tuning Fuzzy-PI Controller. in: Azar, A. T., Ibraheem, I. K. and Humaidi, A. J. (ed.) Mobile Robot: Motion Control and Path Planning New York Springer. pp. 231-251
| Authors | Fekik, A., Azar, A. T., Hamida, M. L., Denoun, H., Mohandsaidi, S., Bousbaine, A., Kamal, N. A., Ibraheem, I. K., Humaidi, A. J., Al Mhdawi, A. K. and Khamis, A. |
|---|---|
| Editors | Azar, A. T., Ibraheem, I. K. and Humaidi, A. J. |
| Abstract | Helicopters, commonly known as quadrotors (UAVs), are popular unmanned aerial vehicles. Despite their small size and high stability, they are used in a variety of applications. This chapter presents the fundamental principles for modeling and controlling quadcopters that will form the basis for future research and development in the field of drones. The problem is addressed on two fronts; first, the mathematical dynamic models are developed, and second, the trajectory of the quadcopter is stabilized and controlled. IMUs (Inertial Measurement Units) consist of accelerometers and gyroscopes and constitute the core of the system. In order to fly the quadcopter in six directions, it is necessary to determine the orientation of the system and control the speed of four BLDC motors. A Matlab/Simulink analysis of the quadcopter is performed. A self-tuning fuzzy-PI regulator is used to control the quadcopter’s pitch, roll, and yaw. It was evaluated whether the quadcopter controller was effective and efficient, and the desired outputs were discussed. |
| Keywords | Quadcopter; Unmanned aerial vehicles; Inertial measurement unit; Fuzzy-PI controller; Self-tuning |
| Page range | 231-251 |
| Year | 2023 |
| Book title | Mobile Robot: Motion Control and Path Planning |
| Publisher | Springer |
| Place of publication | New York |
| Series | Studies in Computational Intelligence |
| ISBN | 9783031265631 |
| ISSN | 1860-9503 |
| Digital Object Identifier (DOI) | https://doi.org/10.1007/978-3-031-26564-8_8 |
| Web address (URL) | https://link.springer.com/chapter/10.1007/978-3-031-26564-8_8 |
| Output status | Published |
| Publication dates | |
| Online | 01 Jul 2023 |
| Publication process dates | |
| Deposited | 11 Jul 2023 |
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