International Journal of Fuzzy Logic and Intelligent Systems

Korean Institute of Intelligent Systems (한국지능시스템학회)
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Constant Altitude Flight Control for Quadrotor UAVs with Dynamic Feedforward Compensation

  • Razinkova, Anastasia (Department of Electronics Engineering, Korea University of Technology and Education) ;
  • Kang, Byung-Jun (Department of Electronics Engineering, Korea University of Technology and Education) ;
  • Cho, Hyun-Chan (Department of Electronics Engineering, Korea University of Technology and Education) ;
  • Jeon, Hong-Tae (Department of Electronics Engineering, Chung-Ang University)
  • Received : 2013.12.24
  • Accepted : 2014.03.24
  • Published : 2014.03.25
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Abstract

This study addresses the control problem of an unmanned aerial vehicle (UAV) during the transition period when the flying mode changes from hovering to translational motion in the horizontal plane. First, we introduce a compensation algorithm that improves height stabilization and reduces altitude drop. The main principle is to incorporate pitch and roll measurements into the feedforward term of the altitude controller to provide a larger thrust force. To further improve altitude control, we propose the fuzzy logic controller that improves system behavior. Simulation results presented in the paper highlight the effectiveness of the proposed controllers.

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References

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