Asia-pacific Proceedings of Applied Science and Engineering for Better Human Life
Vol.10 (2016) pp. 147-151
A Hybrid PI and PD Type Fuzzy Logic Controller for Quadrotor
SangJin Jang 1, SeonHyang Lee 2, Junho Jeong 3
1
Dept. of Computer Science and Engineering, Dongguk. University
Dongguk Univ., Pil-dong 3-ga, Jung-gu, Seoul, KOREA
luloo179@gmail.com
2
Dept. of Computer Science and Engineering, Dongguk. University
Dongguk Univ., Pil-dong 3-ga, Jung-gu, Seoul, KOREA
hyangg57@daum.net
3
Electronic Commerce Institute, Dongguk University
123, Dongdae-ro, Gyeongju, Gyeongbuk-do 781-714, KOREA
Corresponding Author: yanyenli@dongguk.edu
Abstract. This paper suggests to adapt Hybrid PI and PD Type Fuzzy Logic controller to quadrotor for controlling quadrotor’s X-axis (roll), Y-axis (pitch), and Z-axis (yaw). Hybrid PI and
PD Type Fuzzy Logic Controller combines PI Fuzzy Logic Controller and PD Type Fuzzy Logic
Controller and it purposes to make better performance than using single PI, PD Fuzzy Logic
Controller
Keywords: Quadrotor, Fuzzy Logic Controller, Nonlinear Controller System
1 Introduction
Usually quadrotor uses PID linear control system and it guarantees normal performance in general case. But in unexpected situation like quadrotor’s quick start, disturbance, and so on, PID linear
control system can’t operate properly so quadrotor loses control ability and often plunges. This paper
suggests to adapt Hybrid PI and PD Type Fuzzy Logic controller to quadrotor for controlling quadrotor’s X-axis (roll), Y-axis (pitch), and Z-axis (yaw).
PID linear control system does proportional, integral, and differential error between current state
and target state to generate control value. It is important to setting proper gains of proportional,
integral, and differential for stable control performance but finding proper gains of proportional,
integral, and differential is difficult. But in case of Hybrid PI and PD Type Fuzzy Logic Controller, it
just needs gains of PI Fuzzy Logic Controller and PD Fuzzy Logic Controller so it is more convenient to setting system than PID linear control system
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Asia-pacific Proceedings of Applied Science and Engineering for Better Human Life
Vol.10 (2016) pp. 147-151
2 Hybrid PI and PD Type Fuzzy Logic Controller Structure
Fig. 1. . Hybrid PI and PD Type Fuzzy Logic Controller Structure
Hybrid PI and PD Type Fuzzy Logic controller generates a controller output by adding control actions of Fuzzy PI Controller and Fuzzy PD Controller(Fig. 1). Fuzzy PI Controller generates an integral error which is integral between a current state and a target state and eliminates an offset occurred when an error of current state and target state is converged to 0(zero). Fuzzy PD Controller
generates a change in error which is differential between current state and target state. It suppresses
an overshooting occurred in Fuzzy PI Controller and makes a current sate reach a target state rapidly
Hybrid PI and PD Type Fuzzy Logic Controller aims to cancel weaknesses of PI, PD Type Fuzzy
Logic controller and improve control performance.
3 Hybrid PI and PD Type Fuzzy Logic Controller Design
Figure 2 describes the Hybrid PI and PD Type Fuzzy Logic Controller adapted to quadrotor. PI,
PD are added to Hybrid PI and PD Type Fuzzy Logic Controller (fig. 1) for controlling gains of PI,
PD Fuzzy Logic Controller independently.
(1)
(2)
Error is generated by equation (1). Fuzzy PI Controller generates the controller output by using
the error and the integral error as an input. Integral error is generated by equation (2) where dt is an
elapsed time controlling a quadrotor once.
(3)
Fuzzy PD Controller generates the controller output by using the error and a change in error as
an input where change in error. Change in error is following an equation (3).
(4)
(5)
Each PI, PD Control Action is generated by a product of Fuzzy PI, PD controller and PI, PD. It follows equation (4) and (5) where 0 ≤ PI, PD ≤ 2.
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Asia-pacific Proceedings of Applied Science and Engineering for Better Human Life
Vol.10 (2016) pp. 147-151
(6)
A final gain is Controller Output following an equation (6).
Fig. 2. Design Hybrid PI and PD Type Fuzzy Logic Controller Structure
Figure 3. Membership functions
for an input variables
Figure 4. Membership functions for
an output variables
Figure 3 describes input membership functions of PI, PD Fuzzy Controllers’ Error, Integral Error,
and Change in Error. Figure 4 describes output membership functions of PI, PD Fuzzy Controllers
defined by sugeno-type.
Table 1. Rule table for PI Fuzzy Controller
Table 2. Rule table for PD Fuzzy Controller
Table 1 is a rule table of PI Fuzzy Controller where E = Error, ∫E = Integral Error. Table 2 is a
rule table of PD Fuzzy Controller where E = Error, ∆E = Change in Error.
AND is used by a Fuzzy set operation and Defuzzification is used by COG (center of gravity).
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Asia-pacific Proceedings of Applied Science and Engineering for Better Human Life
Vol.10 (2016) pp. 147-151
4 Hybrid PI and PD Type Fuzzy Controller for Quadrotor
A structure of the Hybrid PI and PD Type Fuzzy Logic Controller is shown in figure 5. An IMU
sensor measures quadrotor’s current states (gradients of X-axis (roll), Y-axis (pitch), and Z-axis
(yaw)). A smartphone sets the current state to the target state and controls it.
Figure 3. A Hybrid PI and PD Type Fuzzy Logic Controller for Quadrotor Structure
Figure 6. Applied to Quadrotor
There are the Hybrid PI and PD Type Fuzzy Logic Controller in each X-axis, Y-axis, and Z-axis
so it controls a quadrotor’s gradient and also sends the gradient to ESC (Electronic speed control).
The ESC controls speed of quadrotor’s motors and ultimately controls the quadrotor.
Figure 6 shows a FC (flight controller) with the Hybrid PI and PD Type Fuzzy Logic Controller
and quadrotor with the FC.
5 Conclusions
In order to overcome drawbacks of the PID linear control system and exceptionally improve a
control performance, this paper adapts the Hybrid PI and PD Type Fuzzy Logic Controller to a quadrotor but it just shows a little more improvement than the PID linear control system. We need more
research to outstanding performances of the Hybrid PI and PD Type Fuzzy Logic Controller.
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