Comparative Study and Robustness Analysis of Quadrotor Control in Presence of Wind Disturbances

محورهای موضوعی : robotics

Reham Mohammed ¹ ( Department of Electrical Engineering, University of Suez Canal, Egypt )

تاریخ دریافت : 1397/12/15 تاریخ پذیرش : 1398/03/20 تاریخ انتشار : 1398/03/20

کلید واژه: Fractional Order PID (FOPID), Quadrotor, Artificial Neural Network (ANN), Fuzzy-PID, Genetic Algorithm (GA), Proportional Integral Derivative (PID) Controller, Adaptive Neuro Fuzzy Inference System (ANFIS),

چکیده مقاله :

Controlling of the quadrotor has been noted for its trouble as the consequence of exceeds nonlinear system, strong coupled multivariable and external disturbances. Quadrotor position and attitude is controlled by several methodologies using feedback linearization, but when quadrotor works with unstructured inputs (e.g. wind disturbance), some limitations of this technique appear which influence flight work. Design control system with fast response, disturbance rejection, small error, and stability is the main objective of this work. So in this paper we can make use of new methods of control to design a controller of nonlinear robust with a reasonable performance to test the impact of wind disturbance in quadrotor control such as Fuzzy-PID controller and compared its results with the others four controllers which are PID tuned using GA, FOPID tuned using GA, ANN and ANFIS then discus which controller give the best results in the presence and absence of wind disturbance. The main objective of this paper is that performance of the designed control structure is computed by the fast response without overshoot and minim error of the position and attitude. Simulation results, shows that position and attitude control using FOPID has fast response and better steady state error and RMS error than Fuzzy-PID, ANFIS, ANN and PID tuned using GA without impact of wind disturbance but after impact of wind disturbance it was observed using Fuzzy-PID has fast response with minimum overshoot and better steady state error and RMS error than the other four controllers used in the paper and compared with most of literature reviews which didn't give the adequate results contrasted with the required position and attitude. The all controllers are tested by simulation under the same conditions using SIMULINK under MATLAB2015a.

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