Altitude control for quadrotor with mamdani fuzzy model

摘要

Several previous researchers have conducted research on altitude control of a quadrotor, but the results showed that there were some problems namely long raise time and steady time, oscillation and overshoot when hovering. Hence, this paper presents modification of fuzzy algorithm mamdani method with error and altitude change inputs. The modification of the algorithm includes rule-base, set members and the determination of input and output set members range to obtain optimal results. The rule base applied is 7??7 with 7 set member input and 7 set member output. The results of the altitude control conducted shows that there is no overshoot, fast raise and steady state time, and no oscillation when hovering. This study shows that the fuzzy control with rule base 7??7 is more optimal than the other fuzzy algorithm.