Autonomous Pole Balancing Design In Quadcopter Using Behaviour-Based Intelligent Fuzzy Control

Abstract

Quadcopter is a helicopter VAV that uses four rotors of propeller to maneuver [1]. Some Quadcopter development uses the concept of artificial intelligence behavior-based intelligent fuzzy control (BBIFC). Some quadcopter maneuver movements that are currently being developed include cooperative movement between quadcopter, rotating and reversing movements, ball throwing movements, obstacle avoidance movements, ball capture movements, and automation of balancing motion on quadcopter. The balancing motion includes balancing when flying at a certain position, balancing for landing, and balancing when carrying loads [2]. Autonomous Pole Balancing on Quadcopter has been designed and implemented using Behavior-Based Intelligent Fuzzy Control, the design of automation of quadcopter motion in balancing with carrying loads namely a pole placed on a quadcopter. Quadcopter is used to balance the pole, so that in one calculation cycle must be completed before the pole falls. With an angle of 800 tolerance, the pole will arrive at the slope angle within 1 second, so that, in one calculation cycle must be completed in less than 1 second.