Comparison of two fuzzy logic controller schemes for position control of AR.Drone

摘要

This paper explains the AR.Drone position control scheme using Fuzzy Logic Controller (FLC) in a 3 dimensional coordinate. This control scheme uses two FLC block, for X-Y position and Z position. The inputs of FLC block for X-Y position are distance and angle, while the output is pitch and yaw rate. Z-position will be controlled by another FLC block, which has two inputs, namely setpoint of z and real position of z, while the output is vertical rate. To compensate the sideward speed of the drone, roll compensation is used. The implementation results show that the AR.Drone can achieve the desired position with settling time for x, y position approximately 6 seconds, while z position around 10 seconds. Response x has the oscillation of approximately 5% around the set point. The implementation result are also compared with other fuzzy control for the same setpoint position.