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The Design of a TLD and Fuzzy-PID Controller Based on the Autonomous Tracking System for Quadrotor Drones

Pi-Yun Chen, Guan-Yu Chen*

Department of Electrical Engineering, National Chin-Yi University of Technology, Taiwan

* Corresponding Author: Pi-Yun Chen,

Intelligent Automation & Soft Computing 2020, 26(3), 489-500.


The objective of this paper is to design a new Quadrotor Autonomous Following System, and the main three contents are as follows: Object tracking, quadrotor attitude determination and the controller. The image tracking portion performs object detection and keeps tracking by way of the Tracking-Learning-Detection (TLD), and gets the information of the target motion estimation positions. The attitude determination of the Quadrotor has adopted the Inertial Navigation System and sensors of the accelerometer, gyroscope and electronic compass, etc. for retrieving the information. The Kalman filter is also utilized for estimating the current values in order to reduce external interference, improve the accuracy, and obtain the current posture of the Quadrotor. As for the control method, the mathematical modeling on the Quadrotor is performed first so that the Quadrotor can obtain the correct posture through the three-axis compensations, and then the fuzzy-PID controller may obtain the three-axis following angles for output to execute the commands and track the users. Finally the feasibility of this method is verified by using the flying software simulation and tangible flight experiments.


Cite This Article

P. Chen and G. Chen, "The design of a tld and fuzzy-pid controller based on the autonomous tracking system for quadrotor drones," Intelligent Automation & Soft Computing, vol. 26, no.3, pp. 489–500, 2020.


This work is licensed under a Creative Commons Attribution 4.0 International License , which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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