Experimental stability study of an Octorotor using an intelligent controller

摘要

In this paper, the attitude stabilization problem of an Octorotor with coaxial motors is studied. To this end, the new method of intelligent adaptive control is presented. The designed controller which includes fuzzy and PID controllers, is completed by resistant adaptive function of approximate external disturbance and changing in the dynamic model. In fact, the regulation factor of PID controller is done by the fuzzy logic system. At first, the Fuzzy-PID and PID controllers are simulated in MATLAB/Simulink. Then, the Fuzzy-PID controller is implemented on the Octorotor with coaxial motors as online auto-tuning. Also, LabVIEW software has been used for tests and the performance analysis of the controllers. All of this experimental operation is done in indoor environment in the presence of wind as disturbance in the hovering operation. All of these operations are real-time and telemetry wireless is done by network connection between the robot and ground station in the LABVIEW software. Finally, the controller efficiency and results are studied.