대한전자공학회:학술대회논문집 (Proceedings of the IEEK Conference)
- 대한전자공학회 2008년도 하계종합학술대회
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- Pages.1127-1128
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- 2008
Quad-rotor's stabilization control with Fuzzy + I method
- Shin, Heon-Soo (Department of Electronic Engineering, Dongguk University) ;
- Choe, Jeong-Yeon (Department of Electronic Engineering, Dongguk University) ;
- Jeong, Gyeong-Gwon (Hallym University) ;
- Kim, Ju-Ung (New power electronics) ;
- O, Jeong-Hun (Department of Electronic Engineering, Dongguk University) ;
- Eom, Ki-Hwan (Department of Electronic Engineering, Dongguk University)
- 발행 : 2008.06.18
초록
In this paper, we propose a control method to improve control performance for a Quad-rotor Unmanned Aerial Vehicle's stabilization. The proposed method is the Fuzzy+I control that contains a fuzzy controller which processes signals from the error and the change of error, and generates the control signal by summing up fuzzy output signal and integral signal. We simulated and experimented on the fuzzy+I control method by implementing Quad-rotor UAV that is able to hovering, for the purpose of verifying the effectiveness of the proposed fuzzy+I control method in comparison with general PID control, and we found out that fuzzy+I controller improved control performance of the system.
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