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This paper presents fuzzy self-tuning PID controller for controlling the altitude of the quadrotor. Although the PID controllers have many advantages, it has a limitation that the main term gains called proportional gain, integration gain, and derivative gain have to be tuned manually. One of a solution to manage its limitation is adding the special feature called self-tuning. So, a fuzzy self-tuning...
The problem of how to control a quadrotor is investigated. A nonlinear model of the quadrotor is derived with Newton-Euler formulation and then simplified. With the simplified model, Linear Active Disturbance Rejection Control (LADRC) is used to control the altitude and attitude of the quadrotor. Simulations show LADRC can deal with the model uncertainty and coupling, guarantee stability, and have...
This paper presents the mathematical model of a hexarotor and the design of the sliding mode controller. The Sliding Mode Control method, which is known to be insensitive to external disturbances and parameter uncertainties, was used to control the altitude, attitude and position of the hexarotor. The Lyapunov's stability theory analysis was used to guarantee the stability of a system. The mathematical...
Controlling the altitude of flying robots is one of the challenging issues in robotics. In this regard, this paper tries to investigate an adaptive PID controller which can adaptively result proper coefficients for controlling the altitude of flying robot. The structure of this PID controller is similar to Artificial Neuron used in many of artificial neural networks. Control of the robot's altitude...
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