FPGA Implementation of a Fuzzy Inference Based Quadrotor Attitude Control System
Tomoaki Matsui, Tetsuya Oda, Nobuki Saito, Aoto Hirata, Masaharu Hirota, Kengo Katayama
Abstract
A Quadrotor attitude control requires stabilization of the tilt and rotation speed of the roll, pitch and yaw axis. In this paper, we propose a fuzzy inference to attitude control of quadrotors. In addition, we implement the fuzzy inference on Field-Programmable Gate Array (FPGA) to reduce power consumption. The proposed system, the fuzzy inference module is applied to each of the roll, pitch and yaw axis, and the operation amount of the quadrotor motor is obtained from each output value.
Topics & Concepts
Field-programmable gate arrayFuzzy inference systemInferenceFuzzy logicControl theory (sociology)Tilt (camera)Computer scienceAdaptive neuro fuzzy inference systemAttitude controlRotation (mathematics)Fuzzy control systemFuzzy inferenceControl engineeringPower (physics)Control (management)EngineeringArtificial intelligenceEmbedded systemMechanical engineeringQuantum mechanicsPhysicsAdaptive Control of Nonlinear SystemsRobotic Path Planning AlgorithmsUnderwater Vehicles and Communication Systems