Revue des sciences et sciences de l’ingénieur
Volume 6, Numéro 2, Pages 51-59

Fuzzy Logic Controller Using The Nonholonomic Constraints For Quadrotor Trajectory Tracking

Authors : Medjghou Ali . Slimane Noureddine . Chafaa Kheireddine .

Abstract

In this paper, an intelligent control approach for an unmanned aerial vehicle (UAV) using the nonholonomic constraints, is presented. The UAV is a mini drone with four rotors called quadrotor. It is a nonlinear coupled and unstable system. To properly control this robot and mitigate the disadvantages, a fuzzy logic controller (FLC) based on Takagi-Sugeno approach (TKS) for the altitude, the position and the attitude tracking of a quadrotor, in the presence of external disturbances is proposed, taking into account the nonholonomic constraints of the model. The desired roll and pitch angles are deduced from nonholonomic constraints. This adopted control strategy is summarized in the control of two subsystems. The first, relates to the orientation (attitude) control, taking into account the position control along (x; y) axes. The second, is that of the altitude control along z axis. For the concretization of this work, the matlab/simulink environment is used and the obtained results prove the efficiency of this fuzzy logic control strategy.

Keywords

Fuzzy Logic Control; Nonholonomic Constraints; Quadrotor; Trajectory tracking.