Fuzzy PID-Based Control Strategy for Quadrotor Drones

PID control stands as one of the most extensively employed control techniques in the field of quadrotor unmanned aerial vehicles (UAVs). Nevertheless, during the actual flight operation of quadrotors, the conventional PID control system demonstrates constrained capability in sustaining stability when confronted with external disturbances. In this research’s experimental tests, a step input signal was applied to the control system, and the resulting response of the system showed a noticeable overshoot. Against this backdrop, this paper incorporates fuzzy logic into the traditional PID control architecture. To achieve fuzzy PID control for the quadrotor system, a set of fuzzy inference rules was formulated based on practical engineering expertise. Specifically, the E and EC are fed into the fuzzy controller, which then generates incremental adjustment coefficients for Kp, Ki, and Kd. These dynamically adjusted parameters are subsequently utilized to perform PID-based regulation of the system. Ultimately, a dynamic model for the pitch channel of the quadrotor was constructed in Simulink for simulation validation. The results of the simulation show that fuzzy-inference-driven PID control approach put forward in this study can efficiently alleviate system overshoot, thereby enhancing the overall control performance and stability of the quadrotor UAV.