Agung Prayitno

Comparison of two fuzzy logic controller schemes for position control of AR.Drone

This paper explains the AR.Drone position control scheme using Fuzzy Logic Controller (FLC) in a 3 dimensional coordinate. This control scheme uses two FLC block, for X-Y position and Z position. The inputs of FLC block for X-Y position are distance and angle, while the output is pitch and yaw rate. Z-position will be controlled by another FLC block, which has two inputs, namely setpoint of z and real position of z, while the output is vertical rate. To compensate the sideward speed of the drone, roll compensation is used. The implementation results show that the AR.Drone can achieve the desired position with settling time for x, y position approximately 6 seconds, while z position around 10 seconds. Response x has the oscillation of approximately 5% around the set point. The implementation result are also compared with other fuzzy control for the same setpoint position.

Comparison of PID and Fuzzy Controller for Position Control of AR.Drone

This paper describes the implementation of the PID Controller to control the position of the AR.Drone in the x-y-z. This position control scheme uses three PID controllers to maintain the position of x, y and z using the signal control pitch, roll and vertical rate. PID Controller implemented on AR.Drone 2.0 and then tested in an indoor space. The performance of the controller will be compared with Fuzzy Logic Controller schemes that have been implemented previously. The results show that the PID Controller generate a response with rise time less than 3 seconds at the x and y position with around 25% overshoot. The result for z position give better result without overshoot. The comparison between fuzzy logic and PID Controller indicates that the results of the PID controller is better although there is overshoot.