Abstract

SOLAQUE GUZMAN, Leonardo; CRISTANCHO CARDOZO, Cristhian Andrey  and  GIL CARDENAS, Camilo Andrés. DESIGN AND IMPLEMENTATION OF AN EXPERIMENTAL PLATFORM WITH TWO DEGREES OF FREEDOM CONTROLLED BY TWO TECHNIQUES: PID & FUZZY LOGIC. Cienc. Ing. Neogranad. [online]. 2014, vol.24, n.1, pp.99-115. ISSN 0124-8170.

This article is intended to show a structure of two degrees of freedom and two techniques of control. This system was conceived and designed in order to test different system control strategies able to command four-propeller-like helicopters (Quad-Rotor - Unmanned Aerial Vehicle). This platform was modeled and controlled. Two control techniques were included: a linear technique PID-like control that makes use of the Taylor series linearization, and another technique based on fuzzy control. This work leaves an open platform and, through the software-hardware in loop approach, this platform is enabled to develop and test of other control theories.

Keywords : system with two degrees of freedom; unmanned aerial systems; Taylor series linearization; PID control; fuzzy control.

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