Fuzzy-PID Trajectory Tracking Control of a Quadcopter

The increasing demand and usage of quadcopter drone across fields and missions has led to active involvement of quadcopter in research community. A proper controller is required for a quadcopter in order to operate with a smooth and stable flight. Feature such as tracking has become one of the requirements to quadcopter. Such feature gives another challenge in designing a controller to ensure a stable and accurate quadcopter operation. Most system in industrial control application, including quadcopter prefer conventional PID controller as the main or base control system. However, conventional PID used fixed parameters for the system which could lead to undesired responses if the system encountered any changes, and this could also lead to a long-time adjustment. Thus, fuzzy logic technique is integrated to system to form Fuzzy PID controller which the tuning process can be simplified and shorten. The proposed algorithm of Fuzzy PID is simulated with some trajectories and put to comparison with conventional PID. The result of conventional PID shows more tuning need to be conducted to improve the responses, while the Fuzzy PID controller provides better responses without further tuning applied.