Aggressive maneuvering of a quadcopter via differential flatness-based fuzzy controllers: From tuning to experiments

Cagri Guzay, Tufan Kumbasar*

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

6 Citations (Scopus)

Abstract

In recent years, the rapid development in contemporary technology has brought nano quadcopters with high agility. This paper presents a new differential flatness-based Single Input Fuzzy Logic Controller (SFLC) structure for aggressive maneuvering control alongside its real-world application on Crazyflie 2.1 nano quadcopter. We propose both Type-1 and Interval Type-2 SFLCs as the primary controllers in the flight control system, which are built on the concept of differential flatness. We investigate how the design parameters of SFLCs shape the characteristics of the fuzzy mapping through a geometric approach by analyzing the region and level of aggressiveness/smoothness. Based on the analysis, we present simple tuning guidelines and then design fuzzy logic-based flight control systems, which were implemented as onboard real-time controllers. Finally, we evaluate the performance of SFLCs in comparison with their crisp differential flatness-based nonlinear counterparts for four trajectories with distinct dynamics and shapes in the real world. The presented comparative experimental results clearly show the performance improvements when the proposed T1 and IT2 SFLCs are deployed for real-time aggressive maneuvering.

Original languageEnglish
Article number109223
JournalApplied Soft Computing
Volume126
DOIs
Publication statusPublished - Sept 2022

Bibliographical note

Publisher Copyright:
© 2022 Elsevier B.V.

Funding

The authors declare the following financial interests/personal relationships which may be considered as potential competing interests: Tufan Kumbasar reports financial support was provided by Turkish Academy of Sciences of Turkey (TUBA) in part by a TUBA Outstanding Young Scientist Award Programme (GEBIP). This work was supported by the Turkish Academy of Sciences of Turkey (TÜBA) in part by a TÜBA Outstanding Young Scientist Award Programme (GEBİP) awarded to T. Kumbasar.

FundersFunder number
TUBA
Turkish Academy of Sciences of Turkey
Türkiye Bilimler Akademisi

    Keywords

    • Aggressive maneuvering
    • Differential flatness
    • Interval Type-2 Fuzzy Sets
    • Quadcopters
    • Single-Input Fuzzy Logic Controller

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