Comparison of Two Fuzzy Logic Controller Schemes for Position Control of AR.Drone

Indrawati, Veronica and Prayitno, Agung and Utomo, Gabriel (2015) Comparison of Two Fuzzy Logic Controller Schemes for Position Control of AR.Drone. In: The 7th International Conference on Information Technology and Electrical Engineering (ICITEE), 29-30 Oct 2015, Chiang Mai, Thailand.

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This paper explains the AR.Drone position control scheme using Fuzzy Logic Controller (FLC) in a 3 dimensional coordinate. This control scheme uses two FLC block, for X-Y position and Z position. The inputs of FLC block for X-Y position are distance and angle, while the output is pitch and yaw rate. Z-position will be controlled by another FLC block, which has two inputs, namely setpoint of z and real position of z, while the output is vertical rate. To compensate the sideward speed of the drone, roll compensation is used. The implementation results show that the AR.Drone can achieve the desired position with settling time for x, y position approximately 6 seconds, while z position around 10 seconds. Response x has the oscillation of approximately 5% around the set point. The implementation result are also compared with other fuzzy control for the same setpoint position

Item Type: Conference or Workshop Item (Paper)
Uncontrolled Keywords: AR.Drone position control; fuzzy logic control;roll compensation; pitch compensation
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions: Faculty of Engineering > Department of Electrical Engineering
Depositing User: Agung Prayitno 204037
Date Deposited: 10 Feb 2016 02:13
Last Modified: 10 Feb 2016 02:13

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