نوع مقاله : مقاله پژوهشی
نویسندگان
1 دانشکده هوافضا-دانشگاه صنعتی مالک اشتر
2 مجتمع دانشگاهی هوافضا، دانشگاه صنعتی مالک اشتر
3 دانشگاه صنعتی مالک اشتر
4 دانشگاه مالک اشتر
چکیده
کلیدواژهها
عنوان مقاله [English]
نویسندگان [English]
In this paper, the guidance and control system of a quadrotor to track the trajectory is evaluated. Control algorithms have been developed with the aim of the hardware implementation capability and considering the power consumption and processing limitation of the quadrotor. For this purpose, a proportional–derivative controller (PD) that the control coefficients are optimized by a genetic algorithm (GA) to control both the outer loop(position control) and the inner loop (attitude control) is implemented. Due to the disturbances and uncertainties, the effect of fuzzy control replacement on the quadrotor performance in guidance and control loops has been evaluated. The simulation results show that replacing the fuzzy controller in the guidance loop improves trajectory tracking. Also, the performance of this controller for the quadrotor in the presence of the disturbance and uncertainties was proved.
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کلیدواژهها [English]
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