T1-Fuzzy vs T2-Fuzzy Stabilize Quadrotor Hover with Payload Position Disturbance
Hendi Wicaksono Agung, Christophorus Buyung · 2014
In the pr eviously work, T1 - Fuzzy controller successful 75% of control Quadrotor 1 - axis hover without a long oscillation while given an external disturbance in this case is payload positions. This T1 - Fuzzy controller which designed before, only gives a good response which payload placed at the center and a half of arm Quadrotor. Without doing any change in Quadrotor components like controller board, four sets Electronic Speed Controller (ESC), four sets DC brushless motor, and also four sets propellers, T2 - Fuzzy Cont roller performance tested and comparing to T1 - Fuzzy Controller in previously work. In this paper also used a COG instrument like the previously work to validate a Center of Gravity (COG) of payload position variations. T2 - Fuzzy which have a higher level to handle uncertainty and imprecision than T1 - Fuzzy gave a better result about 100% begin a center position until payload position in ¾ arm Quadrotor