Experimental stability study of an Octorotor using an intelligent controller

Seyed Jamal Haddadi, Payam Zarafshan

Research output: Chapter in Book / Conference PaperConference Paperpeer-review

2 Citations (Scopus)

Abstract

In this paper, the attitude stabilization problem of an Octorotor with coaxial motors is studied. To this end, the new method of intelligent adaptive control is presented. The designed controller which includes fuzzy and PID controllers, is completed by resistant adaptive function of approximate external disturbance and changing in the dynamic model. In fact, the regulation factor of PID controller is done by the fuzzy logic system. At first, the Fuzzy-PID and PID controllers are simulated in MATLAB/Simulink. Then, the Fuzzy-PID controller is implemented on the Octorotor with coaxial motors as online auto-tuning. Also, LabVIEW software has been used for tests and the performance analysis of the controllers. All of this experimental operation is done in indoor environment in the presence of wind as disturbance in the hovering operation. All of these operations are real-time and telemetry wireless is done by network connection between the robot and ground station in the LABVIEW software. Finally, the controller efficiency and results are studied.

Original languageEnglish
Title of host publication2016 Artificial Intelligence and Robotics, IRANOPEN 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages42-47
Number of pages6
ISBN (Electronic)9781509021697
DOIs
Publication statusPublished - 2 Aug 2016
Externally publishedYes
Event2016 Artificial Intelligence and Robotics, IRANOPEN 2016 - Qazvin, Iran, Islamic Republic of
Duration: 9 Apr 2016 → …

Publication series

Name2016 Artificial Intelligence and Robotics, IRANOPEN 2016

Conference

Conference2016 Artificial Intelligence and Robotics, IRANOPEN 2016
Country/TerritoryIran, Islamic Republic of
CityQazvin
Period9/04/16 → …

Bibliographical note

Publisher Copyright:
© 2016 IEEE.

Keywords

  • Attitude Stabilization
  • Experimental
  • Fuzzy-PID controller
  • Octorotor
  • Online Tuning

Fingerprint

Dive into the research topics of 'Experimental stability study of an Octorotor using an intelligent controller'. Together they form a unique fingerprint.

Cite this