The Use of Fuzzy Controllers in Automatic Control Systems for Quadcopters

The purpose and objectives of this work are to develop methods for designing fuzzy control systems for weakly formalized technical objects relative to helicopter-type unmanned aerial vehicles, namely quadcopters. The result of the paper is to obtain analytical information on the existing structures of fuzzy regulators, understanding the features of their design, and practical use. The basic paradigm of this approach is the verbal interpretation of the distance to possible obstacles in the frontal horizontal and vertical planes in the direction of the quadcopter flight. As a tool for formalizing verbal assessments, it is proposed to use fuzzy sets that can reflect the terms (or values) of linguistic variables as inputs of the basic quadrotor control model under overland monitoring. Taking into account the presence of obstacles, the maneuvering of the quadcopter is carried out on the basis of the fuzzy signals generated by the Fuzzy Inference System, which reflect the change in the angle of rotation in the horizontal and vertical planes, as well as the velocity of the quadcopter.