Simulação e controle do sistema dinâmico de quadricóptero via lógica fuzzy em ambiente Matlab

Abstract

The present work refers to the simulation and control of a quadcopter’s dynamic system by using a intelligent controller based on Fuzzy logic. This work will show a smart controller for the Roll, Pitch and Yaw angles as well for the gain of height. The work uses the Simulink Tool from the MathWorks company to develop the dynamic system model on block diagram and run the simulation of the virtual system. Initially, it is shown a theoretical background that tells a brief quadcopter’s history and recent projects developed on both academical and industrial áreas. Then, it is presented a description of the main needed components to build an autonomous quadcopter. Further, the work presents the Fuzzy Logic concepts and the Newton-Euler formalism as the mathematical model that describes the quadcopter’s dynamic. Then, it has a description of the membership functions and the rule bases from both Fuzzy systems used by the four control techiniques applied on the dynamic system. Lastly, the work shows a block diagram from the system’s closed loop and it shows the results from the Simple Fuzzy Controller, the Proportional Fuzzy Controller, the Double Fuzzy Controller and the Proportional Derivative Fuzzy Controller. Finally, a conclusion is made considering the system’s behavior for each result obtained.