Self Tuning Fuzzy PD Control for Quadcopter
Abstract
The prime objective of this paper is to study the effectiveness of self-tuning fuzzy PD (STFPD) control scheme for a quadcopter model having six degrees of freedom (DoF). The control performance of STFPD is compared with the conventional proportional derivative (PD) controller. The quadcopter model considered in this work is a nonlinear multi input multi output (MIMO) system with coupled dynamics. In STFPD two layered architecture is implemented. The low-level control is employed to stabilize the quadcopter and is termed as the attitude control whereas the higher-level control ensures trajectory tracking. Feedback sensor noise is introduced to make the simulation more practical and realistic. Controllers are implemented in Matlab/Simulink platform. Simulation results demonstrate the efficacy of STFPD over the conventional control scheme.
KEYWORDS
Quadcopter Model; Autonomous Attitude Control; Self tuning fuzzy PD control
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