Altitude Lock Capability Benchmarking: Type2 Fuzzy, Type1 Fuzzy, and Fuzzy-PID with Extreme Altitude Change as a Disturbance

摘要

Abstract. In the past three years, our research develop a low cost QuadRotor. QuadRotor build from four brushless motors with four Electronic Speed Controllers (ESC) and four propellers in one carbon frame of QuadRotor. KK2 board added as a flight controller of QuadRotor. This KK2 board only completed with attitude stabilization. This feature is very important to keep QuadRotor back to its level condition after a pitch, yaw, and roll movements. Usually after QuadRotor do several movements, an altitude of QuadRotor will be decreased. User should increase and decrease to maintain the altitude because a KK2 board did not have an altitude lock feature. In our research focused on altitude lock development using several control method implemented on YoHe board. YoHe board powered by ATMega2560 microcontroller with 256 KB ISP memory so with a big enough memory, a complex control method like Type2 Fuzzy can programmed into that microcontroller and running real time. This paper will be presented altitude lock capability benchmarking between Type2 Fuzzy controller and Type1 Fuzzy controller, also with Fuzzy-PID. The benchmarking focused on flight analysis performance with extreme altitude change as a disturbance. \ud\ud\ud