Fuzzy Logic Fuzzy Logic Control of Control of Quadrotor Quadrotor Intelligent Systems Intelligent Systems & & Soft Computing Soft Computing 503051621 503051621 K. OYTUN YAPICI K. OYTUN YAPICI 503051619 503051619 BİRKAN TUNÇ BİRKAN TUNÇ
Feb 09, 2016
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
2
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.
3
• Rotations are not affected by translations.
• Angular subsystem is linear.
• System is underactuated.
• System has coupling effects.
• System is unstable.
CONTROL STRATEGYCONTROL STRATEGY
4
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
5
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
6
ErrorError
Change of ErrorChange of ErrorRule BaseRule Base
U2 , U3U2 , U3
ΦΦ AND AND Z CONTROLLERZ CONTROLLER
7
ErrorError Change of ErrorChange of Error U4U4
ErrorError Change of ErrorChange of Error U1U1
SIMULINK BLOCK DIAGRAMSIMULINK BLOCK DIAGRAM
8
x
yz
9
ANIMATION 1ANIMATION 1
x
yz
10
ANIMATION 2ANIMATION 2
QUESTIONS ???QUESTIONS ???