Fuzzy logic algorithm of hovering control for the quadrotor unmanned aerial system

Abstract

Purpose

The purpose of this paper is to present a control strategy which uses two independent PID controllers to realize the hovering control for unmanned aerial systems (UASs). In addition, the aim of using two PID controller is to achieve the position control and velocity control simultaneously.

Design/methodology/approach

The dynamic of the UASs is mathematically modeled. One PID controller is used for position tracking control, while the other is selected for the vertical component of velocity tracking control. Meanwhile, fuzzy logic algorithm is presented to use the actual horizontal component of velocity to compute the desired position.

Findings

Based on this fuzzy logic algorithm, the control error of the horizontal component of velocity tracking control is narrowed gradually to be zero. The results show that the fuzzy logic algorithm can make the UASs hover still in the air and vertical to the ground.

Social implications

The acquired results are based on simulation not experiment.

Originality/value

This is the first study to use two independent PID controllers to realize stable hovering control for UAS. It is also the first to use the velocity of the UAS to calculate the desired position.

Citation

Yu, L., Chen, J., Tian, Y., Sun, Y. and Ding, L. (2017), "Fuzzy logic algorithm of hovering control for the quadrotor unmanned aerial system", International Journal of Intelligent Computing and Cybernetics, Vol. 10 No. 4, pp. 451-463. https://doi.org/10.1108/IJICC-02-2017-0009