A fast geometric Type2 Fuzzy controller using barometric sensor for altitude stabilization QuadRotor

摘要

In this paper, a fast geometric Type2 Fuzzy developed for altitude stabilization with a barometric sensor as an input. MS5611-01BA03 as a barometric sensor to measure altitude of QuadRotor. The barometric sensor outputs are pressure value and temperature. This two kind of outputs should be converted to altitude value. An attitude which comes out from MS5611-01BA03 cannot be really steady like as a sonar sensor output to measure the altitude. This is the challenge in our research. With sonar sensor, it has produced a steady measurement, but it's having a limitation of height measurement below 300 cm only. In the other side, barometric sensor can measure any altitude, but an outputs have a random noise for one measurement in QuadRotor applications. As a data information to the controller, that random noise will be having a big effect if processed by simple controller, so the QuadRotor cannot steady in one of desired altitude. For that reason, this paper proposes the method to reducing the effect of random noise of MS5611-01BA03 outputs for altitude stabilization using a complex controller Type2 Fuzzy.