Fuzzy Logic Controller for Stabilizing the Rolling Movement of Uav Bicopter
This paper describes the design of a fuzzy logic controller (FLC) for stabilizing the rolling motion of an unmanned aerial vehicle (UAV) Bicopter. Rolling motion control is part of the inner loop (attitude) control in UAV Bicopter, which is very important to control for achieving rapid settling time...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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ICIC International
2023
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| Subjects: | |
| Online Access: | https://repository.ugm.ac.id/285823/1/FUZZY%20LOGIC%20CONTROLLER%20FOR%20STABILIZING.pdf |
| _version_ | 1826050838806659072 |
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| author | Fahmizal, Fahmizal Nugroho, Hanung Adi Cahyadi, Adha Imam Ardiyanto, Igi |
| author_facet | Fahmizal, Fahmizal Nugroho, Hanung Adi Cahyadi, Adha Imam Ardiyanto, Igi |
| author_sort | Fahmizal, Fahmizal |
| collection | UGM |
| description | This paper describes the design of a fuzzy logic controller (FLC) for stabilizing the rolling motion of an unmanned aerial vehicle (UAV) Bicopter. Rolling motion control is part of the inner loop (attitude) control in UAV Bicopter, which is very important to control for achieving rapid settling time and stability. The Bicopter is a nonlinear, unstable, underactuated system and hard to model clearly in mathematics. In order to stabilize the rolling motion of a UAV Bicopter, this research proposes an embedded FLC. The developed FLC uses the Mamdani approach and varied rule base. The UAV Bicopter was placed on a test bed with a Teensy 3.6 microcontroller to validate our approach. The results of the experiments and tests were presented to demonstrate the proposed controller's validity. |
| first_indexed | 2024-03-14T00:10:58Z |
| format | Article |
| id | oai:generic.eprints.org:285823 |
| institution | Universiti Gadjah Mada |
| language | English |
| last_indexed | 2024-03-14T00:10:58Z |
| publishDate | 2023 |
| publisher | ICIC International |
| record_format | dspace |
| spelling | oai:generic.eprints.org:2858232024-03-06T02:14:57Z https://repository.ugm.ac.id/285823/ Fuzzy Logic Controller for Stabilizing the Rolling Movement of Uav Bicopter Fahmizal, Fahmizal Nugroho, Hanung Adi Cahyadi, Adha Imam Ardiyanto, Igi Electrical and Electronic Engineering not elsewhere classified Electrical and Electronic Engineering Engineering This paper describes the design of a fuzzy logic controller (FLC) for stabilizing the rolling motion of an unmanned aerial vehicle (UAV) Bicopter. Rolling motion control is part of the inner loop (attitude) control in UAV Bicopter, which is very important to control for achieving rapid settling time and stability. The Bicopter is a nonlinear, unstable, underactuated system and hard to model clearly in mathematics. In order to stabilize the rolling motion of a UAV Bicopter, this research proposes an embedded FLC. The developed FLC uses the Mamdani approach and varied rule base. The UAV Bicopter was placed on a test bed with a Teensy 3.6 microcontroller to validate our approach. The results of the experiments and tests were presented to demonstrate the proposed controller's validity. ICIC International 2023 Article PeerReviewed application/pdf en https://repository.ugm.ac.id/285823/1/FUZZY%20LOGIC%20CONTROLLER%20FOR%20STABILIZING.pdf Fahmizal, Fahmizal and Nugroho, Hanung Adi and Cahyadi, Adha Imam and Ardiyanto, Igi (2023) Fuzzy Logic Controller for Stabilizing the Rolling Movement of Uav Bicopter. ICIC Express Letters, 17 (9). pp. 967-978. ISSN 1881803X https://cir.nii.ac.jp/crid/1390578393608476544 10.24507/icicel.17.09.967 |
| spellingShingle | Electrical and Electronic Engineering not elsewhere classified Electrical and Electronic Engineering Engineering Fahmizal, Fahmizal Nugroho, Hanung Adi Cahyadi, Adha Imam Ardiyanto, Igi Fuzzy Logic Controller for Stabilizing the Rolling Movement of Uav Bicopter |
| title | Fuzzy Logic Controller for Stabilizing the Rolling Movement of Uav Bicopter |
| title_full | Fuzzy Logic Controller for Stabilizing the Rolling Movement of Uav Bicopter |
| title_fullStr | Fuzzy Logic Controller for Stabilizing the Rolling Movement of Uav Bicopter |
| title_full_unstemmed | Fuzzy Logic Controller for Stabilizing the Rolling Movement of Uav Bicopter |
| title_short | Fuzzy Logic Controller for Stabilizing the Rolling Movement of Uav Bicopter |
| title_sort | fuzzy logic controller for stabilizing the rolling movement of uav bicopter |
| topic | Electrical and Electronic Engineering not elsewhere classified Electrical and Electronic Engineering Engineering |
| url | https://repository.ugm.ac.id/285823/1/FUZZY%20LOGIC%20CONTROLLER%20FOR%20STABILIZING.pdf |
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