Fuzzy logic in control systems: fuzzy logic controller. II - DCA
Fuzzy Logic Control of Quadrotor
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Transcript of Fuzzy Logic Control of Quadrotor
Fuzzy LogicFuzzy LogicControl of QuadrotorControl of Quadrotor
Intelligent Systems Intelligent Systems &&
Soft ComputingSoft Computing503051621503051621
K. OYTUN YAPICIK. OYTUN YAPICI503051619503051619
BİRKAN TUNÇBİRKAN TUNÇ
QUADROTOR CONCEPTQUADROTOR CONCEPT
Rotate LeftRotate Left Rotate RightRotate Right
Going UpGoing Up Move RightMove Right1
A quadrotor has four motors located at the front, rear, left, and right ends of a cross frame. The quadrotor is controlled by changing the speed of rotation of each motor. The front and rear rotors rotate in a counter-clockwise direction while the left and right rotors rotate in a clockwise direction to balance the torque created by the spinning rotors.
DYNAMIC MODELDYNAMIC MODEL
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C: Force to Moment Scaling Factor
PROPERTIES OF DYNAMIC MODELPROPERTIES OF DYNAMIC MODEL, PHYSICAL PHYSICAL VALUES & CONSTRAINTSVALUES & CONSTRAINTS
Physical Values: Constraints:
To avoid crash
is required. This is restricted with the outputs of the fuzzy logic controllers.
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• Rotations are not affected by translations.
• Angular subsystem is linear.
• System is underactuated.
• System has coupling effects.
• System is unstable.
CONTROL STRATEGYCONTROL STRATEGY
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Angular Angular SubsystemSubsystem
TranslationalTranslationalSubsystemSubsystem
X
Z
Y
θTotal Thrust
Fx
Fz
• Angular subsystem will be controlled independent from translational subsystem with 3 fuzzy logic controllers.
• X and Y motion will be controlled through the angles θ and ψ with 2 fuzzy logic controllers.
• Z motion will be controlled with one fuzzy logic controller.
X AND Y CONTROLLERX AND Y CONTROLLER
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ErrorError
Change of ErrorChange of Error
θθ , , ΨΨ
General Properties of FLCsGeneral Properties of FLCs
• Mamdani type inference
• Max-min composition
• Center of gravity defuzzification
• Two inputs, one output
• 9 rules
• Triangular MFs
θθ AND AND ΨΨ CONTROLLER CONTROLLER
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ErrorError
Change of ErrorChange of ErrorRule BaseRule Base
U2 , U3U2 , U3
ΦΦ AND AND Z CONTROLLERZ CONTROLLER
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ErrorError Change of ErrorChange of Error U4U4
ErrorError Change of ErrorChange of Error U1U1
SIMULINK BLOCK DIAGRAMSIMULINK BLOCK DIAGRAM
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x
yz
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ANIMATION 1ANIMATION 1
x
yz
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ANIMATION 2ANIMATION 2
QUESTIONS ???QUESTIONS ???