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Conference papers
Adaptive fuzzy PID control for a quadrotor stabilisation
Abstract : This paper deals with the design of an adaptive fuzzy PID control law for attitude and altitude stabilization of a quadrotor despite the system model uncertainties and disturbances. To this end, a PID control with adaptive gains is used in order to approximate a virtual ideal control previously designed to achieve the predefined objective. Specifically, the control gains are estimated and adjusted by mean of a fuzzy system whose parameters are adjusted online via a gradient descent-based adaptation law. The analysis of the closed-loop system is given by the Lyapunov approach. The simulation results are presented to illustrate the efficiency of the proposed approach.
https://hal.archives-ouvertes.fr/hal-01742587
Contributor : Frédéric Davesne <>
Submitted on : Sunday, March 25, 2018 - 5:13:22 PM
Last modification on : Tuesday, June 30, 2020 - 11:56:09 AM
Contributor : Frédéric Davesne <>
Submitted on : Sunday, March 25, 2018 - 5:13:22 PM
Last modification on : Tuesday, June 30, 2020 - 11:56:09 AM
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