Attitude Stabilization of Quadrotor using Adaptive Fuzzy PID Controller

Quadrotor is an unmanned aerial robot (UAR) from multi rotor drones group that has high maneuverability, vertical take off and landing (VTOL) and stationary flight capabilities. In the most applications, quadrotor system is subjected to disturbance forces due to wind and unbalanced weight or inertia of the payload. In the most applications, quadrotor system is subjected to disturbance forces due to wind and unbalanced weight or inertia of the payload.In order to maintain balance and hold the position, attitude stabilization of quadrotor is necessary in the presence of disturbances and unbalanced forces. Using conventional controllers with constant gains is not very efficient to eliminate variable disturbances that affect quadrotor in different conditions. In this paper, an adaptive fuzzy proportional- integral- derivative (PID) controller is designed for quadrotor attitude stabilization in which controller gains are regulated continuously based on the adaptive law and the fuzzy system. Performance of the proposed controller is examined in disturbance rejection test and is compared to conventional proportional- integral- derivative controller. Also, performance of the proposed controller is approved by the hardware in the loop (HIL) experimental tests using a 3 degree of freedom (DOF) pilot platform.