On using fuzzy logic to control a simulated hexacopter carrying an attached pendulum

摘要

Fuzzy logic is used in many applications from industrial process control to automotive applications, including consumers trend forecast, aircraft maneuvering control and others. Considering the increased interest in using of multi-rotor aircrafts (usually called drones) for many kinds of applications, it is important to study new methods to improve multi-rotor maneuverability while controlling its stability in a proper way. Controlling the flight of multi-rotors, specially those equipped six rotors, is not a trivial task. When considering the design of such a control systems, traditional approaches such as PD/PID are very difficult to design, in spite of being easily implementable. This work proposes an approach based on multiple interconnected fuzzy controllers, aiming to control the various aspects related to maneuverability of a hexacopter carrying a free payload forming a pendulum. The behavior produced by such a control system has been simulated on a well-known robotics simulation environment and analyzed in terms of flight stability, as well as roll, pitch and yaw movements. The results show the feasibility of the proposed approach in keeping the hexacopter flying in a stable way.