Comparativo entre controlador pid e fuzzy no controle de atitude em um quadricóptero

• Autor(a) principal: Mattiello, Caciano Dangui
• Data de Publicação: 2014
• Tipo de documento: Trabalho de conclusão de curso
• Idioma: por
• Título da fonte: Repositório Institucional da UTFPR (da Universidade Tecnológica Federal do Paraná (RIUT))
• Texto Completo: http://repositorio.utfpr.edu.br/jspui/handle/1/14628
• topic: Controladores PID; Lógica difusa; Microcontroladores; PID controllers; Fuzzy logic; Microcontrollers; Engenharia de Computação

This paper describes a comparative between controllers using the classical technique PID and Fuzzy logic applied at the attitude control on a quadcopter. Were studied the controllers and components necessary for the simulation and the working up of a prototype. The entire prototype was mathematically modeled and simulated at the Simulink environment; in which the controllers were implemented and adjusted. In a second step, the controllers were analyzed in a real environment and confronted with the simulated results. Were analyzed at the end, the differences that occurred between the PID and Fuzzy controllers at the control in the real environment, concluding that the fuzzy controller achieved better results.