Design of fuzzy-PID controller for quadcopter trajectory-tracking

Abstract

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.