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FPGA Implementation of a Interval Type-2 Fuzzy Inference for Quadrotor Attitude Control

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Advances in Internet, Data & Web Technologies (EIDWT 2022)

Part of the book series: Lecture Notes on Data Engineering and Communications Technologies ((LNDECT,volume 118))

Abstract

In this paper, we propose an FPGA implementation of Interval Type-2 Fuzzy Inference (IT2FI) for attitude control of quadrotors. Since IT2FI is suitable for parallel processing, the processing time can be significantly reduced even on low-power FPGA devices. In the proposed system, the IT2FI module is applied to each of the roll, pitch and yaw axis, and the operation amount of the quadrotor motor is obtained from each output value.

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Acknowledgement

This work was supported by JSPS KAKENHI Grant Number JP20K19793 and Grant for Promotion of OUS Research Project (OUS-RP-20-3).

Author information

Authors and Affiliations

  1. Department of Information and Computer Engineering, Okayama University of Science (OUS), 1-1 Ridaicho, Kita-ku, Okayama, 700–0005, Japan

    Tomoaki Matusi, Tetsuya Oda, Chihiro Yukawa & Tomoya Yasunaga

  2. Graduate School of Engineering, Okayama University of Science (OUS), Okayama, 1-1 Ridaicho, Kita-ku, Okayama, 700–0005, Japan

    Nobuki Saito & Aoto Hirata

  3. Department of Information and Communication Engineering, Fukuoka Insitute of Technology, 3-30-1 Wajiro-Higashi-ku, Fukuoka, 811-0295, Japan

    Leonard Barolli

Authors
  1. Tomoaki Matusi
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  2. Tetsuya Oda
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  3. Chihiro Yukawa
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  4. Tomoya Yasunaga
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  5. Nobuki Saito
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  6. Aoto Hirata
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  7. Leonard Barolli
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Corresponding author

Correspondence to Tetsuya Oda .

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Editors and Affiliations

  1. Department of Information and Communication Engineering, Fukuoka Institute of Technology, Fukuoka, Japan

    Leonard Barolli

  2. Department of Information and Computer Engineering, Okayama University of Science, Okayama, Japan

    Elis Kulla

  3. Department of Information and Communication Engineering, Fukuoka Institute of Technology, Fukuoka, Japan

    Makoto Ikeda

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Matusi, T. et al. (2022). FPGA Implementation of a Interval Type-2 Fuzzy Inference for Quadrotor Attitude Control. In: Barolli, L., Kulla, E., Ikeda, M. (eds) Advances in Internet, Data & Web Technologies. EIDWT 2022. Lecture Notes on Data Engineering and Communications Technologies, vol 118. Springer, Cham. https://doi.org/10.1007/978-3-030-95903-6_38

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