Modelling and Control of the Qball X4 Quadrotor System based on Pid and Fuzzy Logic Structure

13th European Workshop on Advanced Control and Diagnosis

Bodrumlu, Tolga^1 ; Soylemez, Mehmet Turan^1 ; Mutlu, Ilhan^1

Istanbul, Turkey^1

关键词: Control parameters;    Control techniques;    Conventional pid;    Fuzzy controllers;    Modelling and controls;    PID type fuzzy controller;    Quadrotor systems;    User manual;   

Others  :  https://iopscience.iop.org/article/10.1088/1742-6596/783/1/012039/pdf
DOI  :  10.1088/1742-6596/783/1/012039

来源: IOP

【 摘 要 】

This work focuses on a quadrocopter model, which was developed by QuanserTMand named as Qball X4. First, mathematical model of the Qball X4 is obtained. Then, a conventional PID control technique is presented. This PID control parameters come from Qball user manual. After the presentation of conventional PID control, as an extension of the conventional PID control theory, a different fuzzy controller structure is given. The proposed fuzzy controller structure is based on fuzzy logic and its name is PID type fuzzy controller. All of the simulations are done in MATLABTMenvironment.