Fuzzy logic control for quadrotor micro-aerial vehicle altitude and attitude stabilization

Abstract

This paper presents a fuzzy logic controller (FLC) for altitude and attitude stabilization of a quadrotor micro-aerial vehicle (MAV). The MAV is a small vehicle that weighs less than 0.1 kg; therefore, a slight perturbation will affect its performance. Hence, for the actuated dynamics, roll (ϕ), pitch (θ), yaw (ψ), and altitude (z) stabilization, a FLC scheme is proposed. A 3 × 3 heuristics rules is used with error and derivative error as the inputs. In addition, five memberships function is created for the output comprise of triangles type and sigmoidal type. In this Mamdani-model, centroid is chosen as the defuzzification process. All individual gains for the FLC are tuned manually until achieving the desired responses. The Newton–Euler model of quadrotor is simulated using Simulink with a slight force perturbation which is applied on the altitude (z) to investigate the system performances. The simulation result shows that the flight control scheme provides good performance in the presence of perturbation.