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Simplified fuzzy-PD controller for behavior mixing and improved performance in quadcopter attitude control systems

机译：用于行为混合的简化Fuzzy-PD控制器，并改善了四旋翼姿态控制系统的性能

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摘要

Quadcopters have recently become popular UAV systems due to the simplicity of their structure. PID controllers are simple and effective enough to stabilize and control this nonlinear dynamic system in hover operations; however, these are quite restrictive due to their linear nature. Therefore, in an attempt to extend the scope of use of these controllers and keep their intuitiveness, a Fuzzy-PD Controller structure is proposed with the purpose of combining the behaviors of several PD controller configurations. Moreover, a comparison will be established between the behavior and performance of differently configured PD controllers and a Fuzzy-PD Controller that incorporates their functionality depending on error input.

机译：由于直升机的结构简单，四旋翼飞机最近已成为流行的无人机系统。 PID控制器简单有效，足以在悬停操作中稳定和控制该非线性动态系统。但是，由于它们的线性特性，它们具有很大的局限性。因此，为了扩展这些控制器的使用范围并保持其直观性，提出了Fuzzy-PD控制器结构，其目的是结合几种PD控制器配置的行为。此外，将在配置不同的PD控制器和Fuzzy-PD控制器的行为和性能之间建立比较，该控制器结合了根据错误输入的功能。

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来源
《Proceedings of the 2016 IEEE ANDESCON》|2016年|1-4|共4页
会议地点 Arequipa(PE)
作者
Juan A. Paredes; Cristhian Jacinto; Renzo Ramírez; Ismael Vargas; Luis Trujillano;
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作者单位

IEEE EMBS - Pontificia Universidad Católica del Perú, Lima, Peru;

IEEE EMBS - Pontificia Universidad Católica del Perú, Lima, Peru;

IEEE EMBS - Pontificia Universidad Católica del Perú, Lima, Peru;

IEEE EMBS - Pontificia Universidad Católica del Perú, Lima, Peru;

IEEE EMBS - Pontificia Universidad Católica del Perú, Lima, Peru;

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原文格式 PDF
正文语种 eng
中图分类
关键词
PD control; Mathematical model; Standards; Robustness; Unmanned aerial vehicles; Fuzzy logic;

机译：PD控制;数学模型;标准;稳健性;无人机;模糊逻辑;

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Simplified fuzzy-PD controller for behavior mixing and improved performance in quadcopter attitude control systems

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