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Disturbance Rejection for Quadrotor Attitude Control Based on PD and Fuzzy Logic Algorithm


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DOI: https://doi.org/10.15866/ireaco.v9i6.9930

Abstract


Quadrotor is frequently used for photography enthusiasts to take aerial photographs. When taking aerial photographs, quadrotor moves toward destination point to obtain a good picture. When hovering in open space, quadrotor is often disturbed by wind. The paper presents control strategy for a nonlinear system to solve the problem. The main purpose of the research is to design a controller for maintaining a fixed position with a presence of horizontal wind disturbance. The control structure uses fuzzy logic controller algorithm to stabilize the xy position of the quadrotor by using Mamdani inference engine to obtain a stable quadrotor with fast rise time and settling time as well as, minimum overshoot and steady state error. The results show that the proposed control strategy is able to stabilize the quadrotor when hovering with the presence of disturbance.
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Keywords


Quadrotor; Fuzzy; PD; Overshoot; Disturbance Rejection

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References


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