Hybrid fuzzy logic active force control for trajectory tracking of a quadrotor system

Abstract

The quadrotor unmanned aerial vehicle (UAV) system is considered the most widespread machine these days. There are numerous uses for it in both civilian and military sectors. However, it faces challenges and impediments that degrade its performance and affect its path following such as external wind gusts. Besides it is an underactuated, nonlinear, and coupled dynamic model. This paper presents a hybrid control system based on an innovative approach called active force control (AFC). The proposed control structure merges the proportional-integral-derivative (PID) controller with the AFC approach adjusted intelligently by employing the fuzzy logic (FL) method. To test the feasibility of the suggested hybrid scheme, various types of external disturbances including the harmonic, pulsating, and Dryden wind gust model were applied. Results show the effectiveness of the proposed hybrid control scheme in expelling the applied disturbances while maintaining system stability and trajectory tracking. Findings indicate that the proposed strategy enhanced the performance of around 67, 91, and 50% for forward, sideward, and upward motions, respectively. Results show how effectively the suggested approach may implement for real-time applications.