四旋翼UAV定點懸置之模糊控制器設計與模擬

本篇論文針對四旋翼UAV定點懸置飛行設計一個模糊控制器，此模糊控制器分別針對Roll角度、Pitch角度以及高度進行控制，使得四旋翼UAV在固定高度保持平衡與穩定的懸置飛行狀態，透過四旋翼UAV簡化動態模型的模擬測試，結果顯示此模糊控制器在閉迴路控制下，四旋翼受到外力影響其平衡時，模糊控制器可以快速修正角度與高度，所以證明此一模糊控制器確實對於四旋翼保持懸置控制是可行的，我們並將結果與合併輸入模糊控制器進行比較，結果顯示我們設計的模糊控制器達到平衡狀態所花費的時間比合併輸入模糊控制器更快速。

This paper proposed a fuzzy controller to control a quadrotor UAV and keep hover sentinel. This fuzzy controller included roll, pitch and height controller to make the quadrotor keeping hover sentinel with balance and stability in flying status. Quad-rotor UAV simulation testing by simplify dynamic model. The results show that the quad-rotor UAV will fast to rectify angle and height by closed-loop control when it suffers impact in wind. Simulation results also show that fuzzy control methods are feasible to keep it hover sentinels. In addition, we proposed method is faster than merge input controller.