Mathematical Model and Intelligent Control of a Quadcopter, with Non-conventional Membership Functions
Eduardo M. Bucio-Gallardo, Ricardo Zavala-Yoé, Ricardo A. Ramírez-Mendoza · Journal of Energy and Power Engineering · 2016
This paper shows detailed steps for modeling a quadcopter with Euler-Lagrange equations, followed by controlling it with intelligent control that includes states decoupling.In addition, this control shows non-conventional membership functions for the most instable states, in order to get a fast and effective response.