Trajectory Tracking of AR.Drone Quadrotor Using Fuzzy Logic Controller

Prayitno, Agung and Indrawati, Veronica and Utomo, Gabriel (2014) Trajectory Tracking of AR.Drone Quadrotor Using Fuzzy Logic Controller. TELKOMNIKA , 12 (4). pp. 819-828. ISSN 1693-6930

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Abstract

In this paper, Fuzzy Logic Controller (FLC) is implemented in the AR.Drone quadrotor in order to make it follow a given trajectory reference. The distance between the position and angle of the AR.Drone to the reference point is used as the input of the FLC. As for the output, pitch value and yaw rate will be the controlling signal for the AR.Drone. The navigation data of the AR.Drone are forward speed (vx), sideward speed (vy), and yaw. These navigation data are going to be used to estimate positions and orientation of the AR.Drone. To compensate for the y-position drift, the value of vy is also used as a criterion to determine the roll compensation. The FLC algorithm is implemented to AR.Drone 2.0 Elite Edition using LabVIEW software. Also, the algorithm has been tested in various trajectories such as a straight line, a straight line with a perpendicular turn, a rectangular trajectory and a curved trajectory. The results have shown that AR.Drone can follow a given trajectory with various initial positions and orientations quite well

Item Type: Article
Uncontrolled Keywords: AR.Drone trajectory tracking, AR.Drone control, fuzzy logic controller
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions: Faculty of Engineering > Department of Electrical Engineering
Depositing User: Agung Prayitno 204037
Date Deposited: 05 May 2015 02:00
Last Modified: 05 May 2015 02:00
URI: http://repository.ubaya.ac.id/id/eprint/24152

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