飛行制御arXiv:2012.05042
ANFIS制御による自律クアッドコプターの開発
Development of Autonomous Quadcopter
クアッドコプターの姿勢・高度制御にANFISコントローラを設計し、線形化モデルを構築してPD制御やファジィ制御と性能を比較した研究。
著者: Mohammad Al-Fetyani, Mones Azazma
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
The main objective of this work is demonstrated through two main aspects. The first is the design of an adaptive neuro-fuzzy inference system (ANFIS) controller to develop the attitude and altitude of a quadcopter. The second is to establish the linearized mathematical model of the quadcopter in a simple and clear way. To show the effectiveness of the ANFIS approach, the performance of a well-trained ANFIS controller is compared to a classical proportional-derivative (PD) controller and a properly tuned fuzzy logic controller.