Design of Fuzzy-PID Controller for Quadcopter Trajectory-Tracking
Mohammed Amin Rabah, Ali Rohan, Yun-Jong Han, Sung-Ho Kim · International Journal of Fuzzy Logic and Intelligent Systems · 2018
Trajectory-tracking is an attractive application for quadcopters and a very challenging, complicated field of research due to the complex dynamics of a quadcopter.Various control algorithms have been developed to stabilize the quadcopter over a certain trajectory since it is hard for a quadcopter to follow a certain trajectory.In this paper, a fuzzy-PID controller is designed to stabilize the quadcopter over a certain trajectory using the speed information as an input.The proposed controller is compared to a PD controller and a fuzzy logic controller (FLC) to distinguish which has a better performance using MATLAB/Simulink.The simulation results demonstrate that under different trajectories the fuzzy-PID controller shows a better response than the other two controllers.