The fuzzy position control for the four rotor flying robot

摘要

This study deals with a position controller of the four rotor flying robot using a fuzzy controller. In recent years, the flying robot has been developed to be used in various fields such as dangerous field, disaster field and so on. We also have already developed the flying robot with four rotors. However it was difficult to control the position when the wind is blowing. The reason is uncertainty of the model. In case of the traditional linear and nonlinear controller methods, these methods rely on an accurate model of the dynamics and do not address disturbance rejection explicitly. So the environment model changes constantly, and equation of motion can't be expressed. Thus we use a fuzzy controller method that can compensate for model uncertainty. We aim to confirm the effectiveness of fuzzy control, two controllers that are PD controller and fuzzy controller were designed and implemented to control a simulation model of the flying robot. Their simulation results prove the efficiency of the fuzzy controller for flying robot.