Dynamics and Fuzzy Logic Method for Controlling Quadcopter

摘要

A controlling aerial robot with four rotors called quadcopter with intelligent system; combine with dynamical model is difficult. In this study, mathematic formulation and implementation quadcopter with simple trajectory is shown. In detail, this study aims to calculate the moment of inertia of the body and the rotational of the quadcopter, then calculating the thrust factor, the drag factor as well as the acceleration of aircraft and also to simulate the trajectory of quadcopter. The research method used in this study is modeling, simulations and experiments. So that, in the modeling and simulation methods consist of calculating statics, dynamics, kinematics and fuzzy logic control. While the experimental method consisted of quadcopter tests process and processing of GPS data showing the actual position of the aircraft. Simulation of aerial robots showed that the maximum error value between theoretical and actual movement can get minimum errors. Trajectory simulation results and error values are affected by setting the range of membership functions of fuzzy logic control system.