Controlling a one degree of freedom arm, using fuzzy controller

Abstract

Nowadays, Quadrotor helicopters are becoming very popular platform for unmanned aerial vehicle (UAV) research, due to their capability of hovering, vertical takeoff and landing (VTOL) and simplicity of their design and maintenance. To date, the control of most Quadrotor aerial robots have been based on their dynamical models, but in this research it's been tried to control the vehicle without any model. In this paper, a fuzzy controller will be designed to regulate the attitude of one degree of freedom (DOF) arm, and then in our future efforts we will try to control a large Quadrotor with the help of four controllers, based on aforementioned method. At the end of this paper, the experimental result for controlling the attitude of one degree of freedom arm will be presented and the advantages of this type of controller will be discussed.