FuzzyControllerExamples

A collection of fuzzy logic controllers implemented in ptyhon

Fuzzy gain scheduling of PID controllers

An implementation of a paper [1] by Zhen-Yu Zhao.

Simulation Results:

Inverted pendulum on a cart

Simulation of controlling an inverted pendulum on a cart

Simulation Results:

Fuzzy Logic Control of a Quadrotor

initional conditions: 
    x = 0
    y = 0
    z = 0
    Φ = 0.2
    Θ = 0.2
    Ψ = 0.2
    xd = 0
    yd = 0
    zd = 0
    Φd = 0
    Θd = 0
    Ψd = 0
    
setpoints:
    setpoint_x=-2
    setpoint_y=3
    setpoint_z=8
    setpoint_Φ = 0
    setpoint_Θ = 0
    setpoint_Ψ = 1
    
disturbance:
    Dx=0.1  -> drag force in x direction equivalent to a wind at 3 m / s

Simulation Results:

[1] Zhen-Yu Zhao, M. Tomizuka and S. Isaka, "Fuzzy gain scheduling of PID controllers," in IEEE Transactions on Systems, Man, and Cybernetics, vol. 23, no. 5, pp. 1392-1398, Sept.-Oct. 1993.