Waypoint navigation of quad-rotor MAV using Fuzzy-PID control
Quad-rotor Micro Aerial Vehicle (MAV) is a multi-rotor MAV with four propellers which propel the MAV up to the air and move around. It has high maneuverability to move around, such as roll, pitch and yaw movements. However, line of sight and radio control effective range are the major limitation for...
| Main Authors: | , , , , , , |
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| Format: | Book Chapter |
| Language: | English English |
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Springer Singapore
2018
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| Online Access: | http://umpir.ump.edu.my/id/eprint/21726/1/book48%20Waypoint%20navigation%20of%20quad-rotor%20MAV%20using%20Fuzzy-PID%20control.pdf http://umpir.ump.edu.my/id/eprint/21726/2/book48.1%20Waypoint%20navigation%20of%20quad-rotor%20MAV%20using%20Fuzzy-PID%20control.pdf |
| _version_ | 1796992813927235584 |
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| author | Goh, Ming Qian Pebrianti, Dwi Bayuaji, Luhur Nor Rul Hasma, Abdullah Mahfuzah, Mustafa Mohammad, Syafrullah Indra, Riyanto |
| author_facet | Goh, Ming Qian Pebrianti, Dwi Bayuaji, Luhur Nor Rul Hasma, Abdullah Mahfuzah, Mustafa Mohammad, Syafrullah Indra, Riyanto |
| author_sort | Goh, Ming Qian |
| collection | UMP |
| description | Quad-rotor Micro Aerial Vehicle (MAV) is a multi-rotor MAV with four propellers which propel the MAV up to the air and move around. It has high maneuverability to move around, such as roll, pitch and yaw movements. However, line of sight and radio control effective range are the major limitation for the MAVs which significantly shorten the travel distance. Therefore, we proposed a waypoint navigation quad-rotor MAV based on Fuzzy-PID controller in this paper. User can set mission with multiple waypoint and the Fuzzy-PID controller will control MAV autonomously moving along the waypoint to the desired position without remotely controlled by radio control and guidance of pilot. The results show Fuzzy-PID controller is capable to control MAV to move to the desired position with high accuracy. As the conclusion, Fuzzy-PID controller is successfully designed for waypoint navigation in quad-rotor MAV. The result shows that the overshoot percentage (%OS) of the designed Fuzzy-PID controller for x position is 2.17% while y position is 0.93%. Additionally, the steady-state error for x position and y position are 0.54% and 0.56% respectively. Therefore, the performance of Fuzzy-PID controller is better than PID controller. |
| first_indexed | 2024-03-06T12:25:13Z |
| format | Book Chapter |
| id | UMPir21726 |
| institution | Universiti Malaysia Pahang |
| language | English English |
| last_indexed | 2024-03-06T12:25:13Z |
| publishDate | 2018 |
| publisher | Springer Singapore |
| record_format | dspace |
| spelling | UMPir217262018-08-06T03:38:08Z http://umpir.ump.edu.my/id/eprint/21726/ Waypoint navigation of quad-rotor MAV using Fuzzy-PID control Goh, Ming Qian Pebrianti, Dwi Bayuaji, Luhur Nor Rul Hasma, Abdullah Mahfuzah, Mustafa Mohammad, Syafrullah Indra, Riyanto TK Electrical engineering. Electronics Nuclear engineering Quad-rotor Micro Aerial Vehicle (MAV) is a multi-rotor MAV with four propellers which propel the MAV up to the air and move around. It has high maneuverability to move around, such as roll, pitch and yaw movements. However, line of sight and radio control effective range are the major limitation for the MAVs which significantly shorten the travel distance. Therefore, we proposed a waypoint navigation quad-rotor MAV based on Fuzzy-PID controller in this paper. User can set mission with multiple waypoint and the Fuzzy-PID controller will control MAV autonomously moving along the waypoint to the desired position without remotely controlled by radio control and guidance of pilot. The results show Fuzzy-PID controller is capable to control MAV to move to the desired position with high accuracy. As the conclusion, Fuzzy-PID controller is successfully designed for waypoint navigation in quad-rotor MAV. The result shows that the overshoot percentage (%OS) of the designed Fuzzy-PID controller for x position is 2.17% while y position is 0.93%. Additionally, the steady-state error for x position and y position are 0.54% and 0.56% respectively. Therefore, the performance of Fuzzy-PID controller is better than PID controller. Springer Singapore 2018-04-28 Book Chapter PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/21726/1/book48%20Waypoint%20navigation%20of%20quad-rotor%20MAV%20using%20Fuzzy-PID%20control.pdf pdf en http://umpir.ump.edu.my/id/eprint/21726/2/book48.1%20Waypoint%20navigation%20of%20quad-rotor%20MAV%20using%20Fuzzy-PID%20control.pdf Goh, Ming Qian and Pebrianti, Dwi and Bayuaji, Luhur and Nor Rul Hasma, Abdullah and Mahfuzah, Mustafa and Mohammad, Syafrullah and Indra, Riyanto (2018) Waypoint navigation of quad-rotor MAV using Fuzzy-PID control. In: Intelligent Manufacturing & Mechatronics: Proceedings of Symposium, 29 January 2018, Pekan, Pahang, Malaysia. Lecture Notes in Mechanical Engineering . Springer Singapore, Singapore, pp. 271-284. ISBN 9789811087875 https://doi.org/10.1007/978-981-10-8788-2_25 DOI: 10.1007/978-981-10-8788-2_25 |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Goh, Ming Qian Pebrianti, Dwi Bayuaji, Luhur Nor Rul Hasma, Abdullah Mahfuzah, Mustafa Mohammad, Syafrullah Indra, Riyanto Waypoint navigation of quad-rotor MAV using Fuzzy-PID control |
| title | Waypoint navigation of quad-rotor MAV using Fuzzy-PID control |
| title_full | Waypoint navigation of quad-rotor MAV using Fuzzy-PID control |
| title_fullStr | Waypoint navigation of quad-rotor MAV using Fuzzy-PID control |
| title_full_unstemmed | Waypoint navigation of quad-rotor MAV using Fuzzy-PID control |
| title_short | Waypoint navigation of quad-rotor MAV using Fuzzy-PID control |
| title_sort | waypoint navigation of quad rotor mav using fuzzy pid control |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| url | http://umpir.ump.edu.my/id/eprint/21726/1/book48%20Waypoint%20navigation%20of%20quad-rotor%20MAV%20using%20Fuzzy-PID%20control.pdf http://umpir.ump.edu.my/id/eprint/21726/2/book48.1%20Waypoint%20navigation%20of%20quad-rotor%20MAV%20using%20Fuzzy-PID%20control.pdf |
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