ANFIS based quadrotor drone altitude control implementation on Raspberry Pi platform

作者：Dorzhigulov Anuar; Bissengaliuly Batyrgali; Spencer Billie F Jr; Kim Jong; James Alex Pappachen^*

来源：Analog Integrated Circuits and Signal Processing, 2018, 95(3): 435-445.

DOI：10.1007/s10470-018-1159-8

• Neuro-fuzzy
• ANFIS
• Quadrotor
• Control
• Drone stabilization

The unmanned aerial vehicles can have complicated dynamics and kinematics that governs the flight of such multirotor devices. PID type controllers are one of the most popular approaches with Raspberry Pi 3 platform for stability of the flight. However, in dynamic environment they are limited in performance and response times. The autonomous tuning of the controller parameters according to the state of the environment with assistance of the adaptive neuro-fuzzy inference system is a well known approach. This paper provides implementation details and feasibility of such a controller with Raspberry Pi 3 platform for use in geological wireless sensing environments. The proposed neuro-fuzzy controller is developed for a Raspberry Pi 3 platform and tested on a physical quadrotor drone and compared to the conventional PID controller during flight.

• 出版日期2018-6