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Fuzzy Logic Control of Quadrotor

Fuzzy Logic Control of Quadrotor. Intelligent Systems & Soft Computing. 503051619 BİRKAN TUNÇ. 503051621 K. OYTUN YAPICI. QUADROTOR CONCEPT.

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Fuzzy Logic Control of Quadrotor

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  1. Fuzzy LogicControl of Quadrotor Intelligent Systems & Soft Computing 503051619 BİRKAN TUNÇ 503051621 K. OYTUN YAPICI

  2. QUADROTOR CONCEPT 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. Rotate Left Rotate Right 1 Going Up Move Right

  3. DYNAMIC MODEL C: Force to Moment Scaling Factor 2

  4. PROPERTIES OF DYNAMIC MODEL, PHYSICAL VALUES & CONSTRAINTS • Rotations are not affected by translations. • Angular subsystem is linear. • System is underactuated. • System has coupling effects. • System is unstable. Physical Values: Constraints: To avoid crash is required. This is restricted with the outputs of the fuzzy logic controllers. 3

  5. TranslationalSubsystem Angular Subsystem Z Fz Total Thrust θ Fx X Y CONTROL STRATEGY • 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. 4

  6. X AND Y CONTROLLER Error θ , Ψ Change of Error General Properties of FLCs • Mamdani type inference • Max-min composition • Center of gravity defuzzification • Two inputs, one output • 9 rules • Triangular MFs 5

  7. θ AND Ψ CONTROLLER Error U2 , U3 Change of Error Rule Base 6

  8. Φ AND Z CONTROLLER Error Change of Error U4 Error Change of Error U1 7

  9. SIMULINK BLOCK DIAGRAM 8

  10. z y x ANIMATION 1 9

  11. z y x ANIMATION 2 10

  12. QUESTIONS ???

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