A PID and fuzzy logic based method for Quadrotor aircraft control motion

Issue title: Some highlights on fuzzy systems and data mining

Guest editors: Shilei Sun, Silviu Ionita, Eva Volná, Andrey Gavrilov and Feng Liu

Article type: Research Article

Authors: Tao, Yong^a | Xie, Guang^b | Chen, Youdong^{a; *} | Xiong, Hegen^b | Liu, Hui^a | Zheng, Jiaqi^b | Gao, Jinpeng^b

Affiliations: [a] Beihang University, Beijing, China | [b] Wuhan University of Science and Technology, Wuhan, China

Correspondence: [*] Corresponding author. Youdong Chen, Beihang University, Beijing 100191, China. Tel./Fax: +86 10 8233 8271; E-mail: chenyd@buaa.edu.cn.

Abstract: This paper proposes a quadrotor aircraft motion control method based on the combination of PID and a fuzzy control algorithm. The dynamical system of quadrotor aircrafts is modeled. Target colors are recognized and tracked based on the OpenCV. The target-following flight attitudes of the quadrotor is controlled by a fuzzy PID control algorithm. We focus on exterior, unknown, interfering factors, such as gusts, and adjust kp, ki, kd parameters online in real time. This allows the response speed of the quadrotor flight control system to increase and improves the anti-jamming capability for the exterior non-linear factors. The simulation of the control system is accomplished with the Matlab/Simulink, and the real flight tests are based on the Parrot AR Drone 2.0 quadrotor aircraft, which verifies the effectiveness of the proposed method. The proposed method is able to improve the adaptability of the quadrotor for exterior, environmental changes, shorten the system adjustment time and improve the following accuracy of the quadrotor.

Keywords: Quadrotor aircraft, machine vision, fuzzy PID control algorithm, pose control

DOI: 10.3233/JIFS-169182

Journal: Journal of Intelligent & Fuzzy Systems, vol. 31, no. 6, pp. 2975-2983, 2016