Implementation of a vertical take-off and landing quadrotor based on fuzzy control of four classically compensated DC motors

• Main Authors: Torregoza, Mark Lorenze R., Magsino, Elmer R., Dadios, Elmer P.
• Format: text
• Published: Animo Repository 2013
• Subjects: Quadrotor helicopters —Automatic control; Controls and Control Theory
• Online Access: https://animorepository.dlsu.edu.ph/faculty_research/7920
• Institution: De La Salle University

This paper implements a Matlab/Simulink vertical take-off and landing capabilities of a quadrotor by modeling and controlling its four DC motors instead of the normal nonlinear dynamic system modeling. The DC motors are classically compensated using a PI controller and accepts the desired motor speed as its input. Each DC shunt motor has a 12VDC supply chopped by a 2-quadrant chopper and has an assumed maximum rated speed of 50000rpm that can reach a maximum height of 10m when unloaded. Load disturbance is introduced in the system to mimic weight considerations and is assumed to be equally shared by these four DC motors. To determine the required motor speed to attain a certain vertical take-off height, fuzzy logic control is used. Varying height and load disturbance are introduced to verify system functionalities and behaviour. It has been seen through simulation experiments that the proposed fuzzy-classical control of DC motors for quadrotor vertical take-off and landing provide significant results in easilty controlling vertical flight and avoiding too much nonlinearities in the quadrotor system.