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Towards Tracking Trajectory of Planar Quadrotor Models

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Intuitionistic and Type-2 Fuzzy Logic Enhancements in Neural and Optimization Algorithms: Theory and Applications

Part of the book series: Studies in Computational Intelligence ((SCI,volume 862))

Abstract

The paper introduces the basis to control a simple planar quadrotor model in the tracking trajectory problem. The dynamics of the model is developed and a control system is designed and implemented to tracking two different trajectories without obstacles. General control system contains a PD controller to drive altitude (motion in z direction), and a cascade control scheme to drive y position by controlling orientation of roll angle. Results of the error position and command variables on two different trajectories are analyzed.

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Acknowledgements

We would like thankful to Tijuana Institute of Technology and CONACYT by their support to this research work.

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Authors and Affiliations

  1. Tijuana Institute of Technology, Tijuana, Mexico

    Prometeo Cortés-Antonio, Fevrier Valdez, Oscar Castillo & Patricia Melin

Authors
  1. Prometeo Cortés-Antonio
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  2. Fevrier Valdez
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  3. Oscar Castillo
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  4. Patricia Melin
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Corresponding author

Correspondence to Prometeo Cortés-Antonio .

Editor information

Editors and Affiliations

  1. Division of Graduate Studies and Research, Tijuana Institute of Technology, Tijuana, Baja California, Mexico

    Oscar Castillo

  2. Division of Graduate Studies and Research, Tijuana Institute of Technology, Tijuana, Baja California, Mexico

    Patricia Melin

  3. Systems Research Institute, Polish Academy of Sciences, Warsaw, Poland

    Janusz Kacprzyk

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Cortés-Antonio, P., Valdez, F., Castillo, O., Melin, P. (2020). Towards Tracking Trajectory of Planar Quadrotor Models. In: Castillo, O., Melin, P., Kacprzyk, J. (eds) Intuitionistic and Type-2 Fuzzy Logic Enhancements in Neural and Optimization Algorithms: Theory and Applications. Studies in Computational Intelligence, vol 862. Springer, Cham. https://doi.org/10.1007/978-3-030-35445-9_24

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