Design and Deployment of Fuzzy PID Controllers to the nano quadcopter Crazyflie 2.0

摘要

Nowadays, nano quadcopters have attracted research interest since they are fast quadcopters with high maneuverability. In this study, the design and deployment of a Fuzzy PID (FPID) controller structure is presented to solve the position control problem of the Crazyflie 2.0 nano quadcopter in a real-world environment. In this context, we will firstly present an experimental environment in which a low cost camera system is implemented instead of the OptiTrack or VICON camera system. Then, we will present a fuzzy logic based position controller structure which uses a vision based positioning system that is capable to track the position of Crazyflie 2.0 through the low cost camera. In this structure, since the usage of a low cost camera might result with feedback uncertainties, we will design FPID controllers to end up with a robust and satisfactory control system performance in presence of noise and the present highly coupled nonlinearities of Crazyflie 2.0. The paper will present comparative experimental results that show the resulting performance of the FPID structure is superior in various operating points and is more robust against noise and nonlinearities when compared to its PID counterpart.