Design of fuzzy controller for hexacopter position control

Abstract

The paper deals with the design of a fuzzy controller for controlling the position of a hexacopter represented by a simulation model in Gazebo robot simulation environment, which in terms of control presents a highly nonlinear system with 6 degrees of freedom. The fuzzy controller design was based on the pilot´s experience and on analysis of experimental data collected during a controlled hexacopter flight, without the knowledge of its structure and parameters. The fuzzy controller properties were verified by real time experimental measurements, with sampling time 10 milliseconds. The obtained results have confirmed good dynamic properties of the PI fuzzy controller, which can in future be also applied in a real physical hexacopter model