Development of an Attitude Control System for Quad-Rotor UAV with Fuzzy Control

• Main Authors: Chieh-Yao Lin, 林介堯
• Other Authors: 宋朝宗
• Format: Others
• Language: zh-TW
• Published: 2014
• Online Access: http://ndltd.ncl.edu.tw/handle/n6wts2

碩士 === 國立虎尾科技大學 === 航空與電子科技研究所 === 102 === In this paper, the fuzzy controller of flight attitude is developed and implemented for the quad-rotor UAV system. The attitude control system is designed by sensing the signals of accelerometers and inertial navigation system and adjusting the motor speed of rotors to achieve attitude control of quad-rotor UAV. Moreover, the fuzzy rules are used as the control algorithm to realize attitude controller. Furthermore, the system platform is designed and consists of the monitoring computer, wireless communication unit and the onboard controller to test the system performance of proposed controller. In addition, the flight dynamical characteristics and features are analyzed and tested to deeply understand the system stability of quad-rotor UAV for the better and optimal controller design in this study. In conclusion, the overall testing platform is proposed and constructed to verify and evaluate the feasibility and performance of attitude fuzzy controller for improving the flight stability and control performance of quad-rotor UAV.