Modelling and Control of the Qball X4 Quadrotor System based on Pid and Fuzzy Logic Structure
Tolga Bodrumlu, Mehmet Turan Söylemez, İlhan Mutlu · Journal of Physics Conference Series · 2017
This work focuses on a quadrocopter model, which was developed by Quanser TM and named as Qball X4. First, mathematical model of the Qball X4 is obtained. Then, a conventional PID control technique is presented. This PID control parameters come from Qball user manual. After the presentation of conventional PID control, as an extension of the conventional PID control theory, a different fuzzy controller structure is given. The proposed fuzzy controller structure is based on fuzzy logic and its name is PID type fuzzy controller. All of the simulations are done in MATLAB TM environment.