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  • Autonomous Control of a Quadrotor UAV using Fuzzy Logic

    Type:
    Article
    Description/Abstract:
    UAV’s are being increasingly used today than ever before in both military and civil applications. A certain level of autonomy is imperative to the future of UAV’s. A quadrotor is a helicopter with four rotors, that make it more stable; but more complex to model and control. Characteristics that provide a clear advantage over other fixed wing UAV’s are VTOL and hovering capabilities as well as a greater maneuverability. Fuzzy logic control has been chosen over conventional control methods as it can deal effectively with highly nonlinear systems, allows for imprecise data and is extremely modular. The objective of this research endeavor is to present the steps of designing, building and simulating an intelligent flight control module for a quadrotor UAV. Validation of the math model developed is discussed using actual flight data. Excellent attitude tracking is demonstrated for near hover flight regimes. System design is comprehensively dealt with. The responses are analyzed and future work involving hardware-in-the-loop simulations is proposed.
    Creator/Author:
    Cohen, Kelly and Sureshkumar, Vijaykumar
    Submitter:
    Kelly Cohen
    Date Uploaded:
    02/13/2017
    Date Modified:
    04/05/2017
    Date Created:
    2014-12
    License:
    All rights reserved