Design and Practical Implementation of attitude PID controller with fuzzy system to adjust the controller gain values for quadrotor

This paper presents a completely practical control approach for quadrotor drone. Quadrotor is modelled using Euler-Newton equations. For stabilization and control of quadrotor a classic PID controller has been designed and implemented on the plant and a fuzzy controller is used to adjust the controller parameters. Considering that quadrotor is a nonlinear system, using classic controllers for the plant is not effective enough. Therefor using fuzzy system which is a nonlinear controller is effective for the nonlinear plant. According to the desire set point, fuzzy system adjusts the controller gain values to improve the performance of quadrotor and it leads to better results than classical PID controller. To study the performance of fuzzy PID controller on attitude control of the system, a quadrotor is installed to the designed stand. The system consists of accelerometer and gyroscope sensors and a microcontroller which is used to design fuzzy PID attitude controller for the quadrotor. Considering that the experimental data has lots of errors and noises, Kalman filter is used to reduce the noises. Finally using the Kalman filter leads to better estimation of the quadrotor angle position and the fuzzy PID controller performs the desired motions successfully.