Homeostasis of a Quadrotor UAV based on Fuzzy Adaptive PID controller

DOI

10.2991/978-94-6463-540-9_53How to use a DOI?

Keywords

PID; Quadcopter UAV; Fuzzy Control

Abstract

With the development of automatic control technology, quadcopter UAVs based on PID controllers are widely used in many fields such as exploration, aerial photography, monitoring patrols, etc. Due to the fact that the controlled object has a certain nonlinearity in complex environments, there exists the problem that the motion control is inefficient, and the error still occurs after stabilization. To address this problem, this paper designs fuzzy adaptive PID controller based on fuzzy control theory to improve the stability and accuracy of motion control of quadrotor UAV after disturbance. The dynamics model of a quadrotor UAV is established by Newton’s second law and Euler’s formula, and fuzzy theory is introduced on the basis of PID control. The affiliation function model is selected and fuzzy rules are formulated to control the inputs and outputs in a fuzzy manner. Then the simulation environment is set up in the Simulink module of MATLAB with the input of a step signal. The performance of fuzzy PID controller is compared with conventional PID from the step signal response curve. Finally, the results of the response curve show that the overshoot of the fuzzy adaptive PID controller is much lower than that of the traditional PID, meanwhile, the error rate is also lower, which confirms that the fuzzy PID controller is more superior to anti-interference and dynamic stability, and it has a higher control efficiency in the complex and changing environment.

Copyright

© 2024 The Author(s)

Open Access

Open Access This chapter is licensed under the terms of the Creative Commons Attribution-NonCommercial 4.0 International License (http://creativecommons.org/licenses/by-nc/4.0/), which permits any noncommercial use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license and indicate if changes were made.

Download article (PDF)

TY  - CONF
AU  - Yunzhen Ye
PY  - 2024
DA  - 2024/10/16
TI  - Homeostasis of a Quadrotor UAV based on Fuzzy Adaptive PID controller
BT  - Proceedings of the 2024 2nd International Conference on Image, Algorithms and Artificial Intelligence (ICIAAI 2024)
PB  - Atlantis Press
SP  - 531
EP  - 544
SN  - 2352-538X
UR  - https://doi.org/10.2991/978-94-6463-540-9_53
DO  - 10.2991/978-94-6463-540-9_53
ID  - Ye2024
ER  -