Development of a Model based Fuzzy-PID Controller for the AeroQuad Cyclone Quad-copter

摘要

Over the years multi-rotor aircraft have been chosen as a viable configuration for small-scaled VTOL UAVs in the form of quad-copters, hexa-copters and octo-copters. Multi-rotor airframes require a simpler feedback control system and fewer mechanical parts. These characteristics make these UAV platforms, especially quad-copters, a rugged and competitive candidate for many applications in both military and civil areas. In this effort a fuzzy-PID controller was developed to control a quad-copter model extracted from flight testing data using system identification method. Characteristics of the new system with fuzzy-PID controller were analyzed and compared to that with classic PID controller. Results show that the fuzzy-PID controller has better stability and robustness performance when compared to the classic PID controller.