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Article
Author(s)
Eduardo M. Bucio-Gallardo1, Ricardo Zavala-Yoé1 and Ricardo A. Ramírez-Mendoza2
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DOI:10.17265/1934-8975/2016.10.008
Affiliation(s)
1. Instituto Tecnológico y de Estudios Superiores de Monterrey, Campus Ciudad de México, Escuela de Graduados en Ingeniería y Arquitectura, Calle del Puente 222, Mexico City 14380, Mexico
2. Instituto Tecnológico y de Estudios Superiores de Monterrey, Campus Monterrey, Departamento de Mecatrónica y Automatización, Av. Eugenio Garza Sada 2501 Sur, Monterrey 64849, Mexico
ABSTRACT
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.
KEYWORDS
Fuzzy control, hybrid control, intelligent control, states decoupling, quadcopter, Euler, Lagrange, Tait-Bryan.
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