Optimal Stabilization of A Quadrotor UAV by a Constrained Fuzzy Control and PSO

Abstract

This work aims to design an optimal fuzzy PD (FPD) control for the attitude and altitude stabilization of a quadrotor. The control design is done by mean of the particle swarm optimization (PSO) under the constraints of the controller interpretability and the saturation of the actuators. Concretely, a decentralized control structure is adopted where four FPD controllers are used to stabilize the quadrotor angles (roll, pitch and yaw) and height. A PSO-based algorithm is used to simultaneously tune the four constrained controllers regarding a cost function quantifying the whole system performances. The simulation results are presented to show the efficiency of the proposed approach.