Fuzzy+PID attitude control of a co-axial octocopter

Riska Analia, Susanto, Kai-Tai Song

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

2 Scopus citations

Abstract

The study of Unmanned Aerial Vehicles (UAVs) has grown fast recently, and various applications have been developed. This paper presents a design and implementation of attitude control of a co-axial octocopter (CAO). The dynamic model of a CAO is obtained from making the configuration similar to a quadcopter. In order to stabilize the attitude control of CAO, we propose a Fuzzy+PID design of the attitude controller. Both computer simulation and real-time experiments have been carried out by using LabVIEW programming. In the simulation, we investigated the performance of the proposed Fuzzy+PID controller and tuned the controller parameters. NI-MyRio has been chosen to implement the controller onboard the octocopter. The practical experiments show that the proposed Fuzzy+PID controllers can handle the disturbances during flying and have certain robustness against the environmental conditions. The experimental results validate the simulations and verify the effectiveness of the developed controller.

Original languageEnglish
Title of host publicationProceedings - 2016 IEEE International Conference on Industrial Technology, ICIT 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1494-1499
Number of pages6
ISBN (Electronic)9781467380751
DOIs
StatePublished - 19 May 2016
EventIEEE International Conference on Industrial Technology, ICIT 2016 - Taipei, Taiwan
Duration: 14 Mar 201617 Mar 2016

Publication series

NameProceedings of the IEEE International Conference on Industrial Technology
Volume2016-May

Conference

ConferenceIEEE International Conference on Industrial Technology, ICIT 2016
CountryTaiwan
CityTaipei
Period14/03/1617/03/16

Keywords

  • Attitude control
  • Dynamic model
  • Fuzzy+PID Controller
  • Octocopter

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