Improving Disturbance Rejection Capability for a Quadcopter UAV System Using Self-Regulating Fuzzy PID Controller

2020 International Conference on Computer, Control, Electrical, and Electronics Engineering (ICCCEEE) Pub Date : 2021-02-26 DOI:10.1109/ICCCEEE49695.2021.9429661

Sherif I. Abdelmaksoud, M. Mailah, A. Abdallah

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引用次数: 2

Abstract

The quadcopter model is one of the most versatile flying machines nowadays. However, it is an under-actuated, highly non-linear, and coupling system. It is also sensitive to external disturbances and uncertainties while trajectory tracking. Thus, in this study, a robust control method for the quadcopter system was proposed to improve system stability and disturbances rejection capability by utilizing a Self- Regulating (SR) Fuzzy Proportional-Integral-Derivative (FPID) control system, to be known as (SR-FPID) scheme. The proposed control system was designed based on the Fuzzy Logic (FL) to provide the automatic tuning of the PID control parameters based on various operating and loading requirements. The simulated results reveal the efficiency and robustness of the SR-FPID scheme in significantly improving the disturbance rejection capability and reducing the percentages of the settling time and the peak time of at least 97% in the presence of various forms of external perturbations.

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利用自调节模糊PID控制器提高四旋翼无人机系统抗扰能力

四轴飞行器模型是当今最通用的飞行器之一。然而，它是一个欠驱动、高度非线性和耦合的系统。在轨迹跟踪过程中，对外界干扰和不确定性也很敏感。因此，本研究提出了一种鲁棒控制方法，利用自调节(SR)模糊比例积分导数(FPID)控制系统，提高系统的稳定性和抗干扰能力，称为(SR-FPID)方案。所提出的控制系统是基于模糊逻辑(FL)设计的，可以根据不同的运行和负载要求自动调整PID控制参数。仿真结果表明，SR-FPID方案的效率和鲁棒性显著提高了扰动抑制能力，并将各种形式的外部扰动存在时的稳定时间和峰值时间的百分比减少了至少97%。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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2020 International Conference on Computer, Control, Electrical, and Electronics Engineering (ICCCEEE)

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