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
AuthorsFekik, 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.
EditorsAzar, 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.

KeywordsQuadcopter; Unmanned aerial vehicles; Inertial measurement unit; Fuzzy-PI controller; Self-tuning
Page range231-251
Year2023
Book titleMobile Robot: Motion Control and Path Planning
PublisherSpringer
Place of publicationNew York
SeriesStudies in Computational Intelligence
ISBN9783031265631
ISSN1860-9503
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 statusPublished
Publication dates
Online01 Jul 2023
Publication process dates
Deposited11 Jul 2023
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