Fuzzy logic based pid control of quadcopter altitude and attitude stabilization

Abstract

This paper presents the development and implementation fuzzy logic based PID control algorithm for a quadcopter system. The quadcopter consists four motors with four propellers placed on the ends. The rotors are directed upwards and they are placed in a square formation with equal distance from the center of mass of the quadcopter. Four different scenarios are presented: altitude movement, pitch, roll and yaw angle. For the all cases 6-DOF model is derived and used. The quadcopter can be perceived as a challenging control problem due to its high nonlinearity, even with four motors it is underactuated and cannot move translative without rotating about one of its axes. The main objective of the controller is to propose a suitable solution for the problem associated with the control of quadcopter. A fuzzy controller was designed according to the process characteristics. The simulation results were carried out in MATLAB/SIMULINK. The corresponding figures and simulation results are presented. The performance of suggested fuzzy controllers is discussed and analysed. Comparing the performance of the proportional and derivative (PD) controller tuned by Zeiger-Nichols method and proportional, integral and derivative (PID) tuned by partial swarm optimization (PSO) results depict that fuzzy logic based PID controller give a better performance in terms of transient responses, steady state responses and overshoot error.