Waypoint navigation of quad-rotor MAV using Fuzzy-PID control

Waypoint navigation of quad-rotor MAV using Fuzzy-PID control

Quad-rotor Micro Aerial Vehicle (MAV) is a multi-rotor MAV with four propellers which propel the MAV up to the air and move around. It has high maneuverability to move around, such as roll, pitch and yaw movements. However, line of sight and radio control effective range are the major limitation for...

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Main Authors: Goh, Ming Qian, Pebrianti, Dwi, Bayuaji, Luhur, Nor Rul Hasma, Abdullah, Mahfuzah, Mustafa, Mohammad, Syafrullah, Indra, Riyanto
Format: Book Section
Language:English
English
Published: Springer Singapore 2018
Subjects:
TK Electrical engineering. Electronics Nuclear engineering
Online Access:http://umpir.ump.edu.my/id/eprint/21726/
http://umpir.ump.edu.my/id/eprint/21726/
http://umpir.ump.edu.my/id/eprint/21726/
http://umpir.ump.edu.my/id/eprint/21726/1/book48%20Waypoint%20navigation%20of%20quad-rotor%20MAV%20using%20Fuzzy-PID%20control.pdf
http://umpir.ump.edu.my/id/eprint/21726/2/book48.1%20Waypoint%20navigation%20of%20quad-rotor%20MAV%20using%20Fuzzy-PID%20control.pdf
id ump-21726
recordtype eprints
spelling ump-217262018-08-06T03:38:08Z http://umpir.ump.edu.my/id/eprint/21726/ Waypoint navigation of quad-rotor MAV using Fuzzy-PID control Goh, Ming Qian Pebrianti, Dwi Bayuaji, Luhur Nor Rul Hasma, Abdullah Mahfuzah, Mustafa Mohammad, Syafrullah Indra, Riyanto TK Electrical engineering. Electronics Nuclear engineering Quad-rotor Micro Aerial Vehicle (MAV) is a multi-rotor MAV with four propellers which propel the MAV up to the air and move around. It has high maneuverability to move around, such as roll, pitch and yaw movements. However, line of sight and radio control effective range are the major limitation for the MAVs which significantly shorten the travel distance. Therefore, we proposed a waypoint navigation quad-rotor MAV based on Fuzzy-PID controller in this paper. User can set mission with multiple waypoint and the Fuzzy-PID controller will control MAV autonomously moving along the waypoint to the desired position without remotely controlled by radio control and guidance of pilot. The results show Fuzzy-PID controller is capable to control MAV to move to the desired position with high accuracy. As the conclusion, Fuzzy-PID controller is successfully designed for waypoint navigation in quad-rotor MAV. The result shows that the overshoot percentage (%OS) of the designed Fuzzy-PID controller for x position is 2.17% while y position is 0.93%. Additionally, the steady-state error for x position and y position are 0.54% and 0.56% respectively. Therefore, the performance of Fuzzy-PID controller is better than PID controller. Springer Singapore 2018-04-28 Book Section PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/21726/1/book48%20Waypoint%20navigation%20of%20quad-rotor%20MAV%20using%20Fuzzy-PID%20control.pdf pdf en http://umpir.ump.edu.my/id/eprint/21726/2/book48.1%20Waypoint%20navigation%20of%20quad-rotor%20MAV%20using%20Fuzzy-PID%20control.pdf Goh, Ming Qian and Pebrianti, Dwi and Bayuaji, Luhur and Nor Rul Hasma, Abdullah and Mahfuzah, Mustafa and Mohammad, Syafrullah and Indra, Riyanto (2018) Waypoint navigation of quad-rotor MAV using Fuzzy-PID control. In: Intelligent Manufacturing & Mechatronics: Proceedings of Symposium, 29 January 2018, Pekan, Pahang, Malaysia. Lecture Notes in Mechanical Engineering . Springer Singapore, Singapore, pp. 271-284. ISBN 9789811087875 https://doi.org/10.1007/978-981-10-8788-2_25 DOI: 10.1007/978-981-10-8788-2_25
repository_type Digital Repository
institution_category Local University
institution Universiti Malaysia Pahang
building UMP Institutional Repository
collection Online Access
language English
English
topic TK Electrical engineering. Electronics Nuclear engineering
spellingShingle TK Electrical engineering. Electronics Nuclear engineering
Goh, Ming Qian
Pebrianti, Dwi
Bayuaji, Luhur
Nor Rul Hasma, Abdullah
Mahfuzah, Mustafa
Mohammad, Syafrullah
Indra, Riyanto
Waypoint navigation of quad-rotor MAV using Fuzzy-PID control
description Quad-rotor Micro Aerial Vehicle (MAV) is a multi-rotor MAV with four propellers which propel the MAV up to the air and move around. It has high maneuverability to move around, such as roll, pitch and yaw movements. However, line of sight and radio control effective range are the major limitation for the MAVs which significantly shorten the travel distance. Therefore, we proposed a waypoint navigation quad-rotor MAV based on Fuzzy-PID controller in this paper. User can set mission with multiple waypoint and the Fuzzy-PID controller will control MAV autonomously moving along the waypoint to the desired position without remotely controlled by radio control and guidance of pilot. The results show Fuzzy-PID controller is capable to control MAV to move to the desired position with high accuracy. As the conclusion, Fuzzy-PID controller is successfully designed for waypoint navigation in quad-rotor MAV. The result shows that the overshoot percentage (%OS) of the designed Fuzzy-PID controller for x position is 2.17% while y position is 0.93%. Additionally, the steady-state error for x position and y position are 0.54% and 0.56% respectively. Therefore, the performance of Fuzzy-PID controller is better than PID controller.
format Book Section
author Goh, Ming Qian
Pebrianti, Dwi
Bayuaji, Luhur
Nor Rul Hasma, Abdullah
Mahfuzah, Mustafa
Mohammad, Syafrullah
Indra, Riyanto
author_facet Goh, Ming Qian
Pebrianti, Dwi
Bayuaji, Luhur
Nor Rul Hasma, Abdullah
Mahfuzah, Mustafa
Mohammad, Syafrullah
Indra, Riyanto
author_sort Goh, Ming Qian
title Waypoint navigation of quad-rotor MAV using Fuzzy-PID control
title_short Waypoint navigation of quad-rotor MAV using Fuzzy-PID control
title_full Waypoint navigation of quad-rotor MAV using Fuzzy-PID control
title_fullStr Waypoint navigation of quad-rotor MAV using Fuzzy-PID control
title_full_unstemmed Waypoint navigation of quad-rotor MAV using Fuzzy-PID control
title_sort waypoint navigation of quad-rotor mav using fuzzy-pid control
publisher Springer Singapore
publishDate 2018
url http://umpir.ump.edu.my/id/eprint/21726/
http://umpir.ump.edu.my/id/eprint/21726/
http://umpir.ump.edu.my/id/eprint/21726/
http://umpir.ump.edu.my/id/eprint/21726/1/book48%20Waypoint%20navigation%20of%20quad-rotor%20MAV%20using%20Fuzzy-PID%20control.pdf
http://umpir.ump.edu.my/id/eprint/21726/2/book48.1%20Waypoint%20navigation%20of%20quad-rotor%20MAV%20using%20Fuzzy-PID%20control.pdf
first_indexed 2023-09-18T22:32:00Z
last_indexed 2023-09-18T22:32:00Z
_version_ 1777416347373797376

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