Abstract
Minidrones are widely used as they are not only fast quadcopters with high manoeuvrability but also excellent research platforms for indoor usage. In this study, we provide the design and deployment of the PI-PD and Fuzzy PI-PD (FPI-PD) structures to solve position control problem of the Parrot Mambo Minidrone. In this context, we derive nonlinear mathematical model of Parrot Mambo Minidrone to obtain the control models of the minidrone. Then, via the control models, firstly PI-PD control systems are designed for the altitude and position control systems. Then, to handle the coupled nonlinearities, FPI-PD controllers are designed and employed in the position control loop of minidrone. The presented comparative real-world experiment results clearly show that the proposed control systems outperform the built-in ones. Moreover, the results show that the performance of FPI-PD is better than the built-in PD and designed PI-PD control systems.
| Original language | English |
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| Title of host publication | ELECO 2019 - 11th International Conference on Electrical and Electronics Engineering |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 785-789 |
| Number of pages | 5 |
| ISBN (Electronic) | 9786050112757 |
| DOIs | |
| Publication status | Published - Nov 2019 |
| Event | 11th International Conference on Electrical and Electronics Engineering, ELECO 2019 - Bursa, Turkey Duration: 28 Nov 2019 → 30 Nov 2019 |
Publication series
| Name | ELECO 2019 - 11th International Conference on Electrical and Electronics Engineering |
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Conference
| Conference | 11th International Conference on Electrical and Electronics Engineering, ELECO 2019 |
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| Country/Territory | Turkey |
| City | Bursa |
| Period | 28/11/19 → 30/11/19 |
Bibliographical note
Publisher Copyright:© 2019 Chamber of Turkish Electrical Engineers.