Design and Simulation of a Hybrid PD-ANFIS Controller for Attitude Tracking Control of a Quadrotor UAV

摘要

Optimal gain scheduling of conventional PID controller for simultaneous disturbance rejection and faster settling time capabilities is very difficult to achieve for quadrotor system. The nonlinear system dynamics and unstable behavior of quadrotor require a more advanced attitude tracking stabilization. Therefore, in this paper a novel hybrid PD-adaptive neuro-fuzzy interface system controller design is presented. The simulation results of the proposed hybrid controller are compared with conventional PD, PID and fuzzy logic controller. The comparative study of the dynamic response plots reveals that the proposed hybrid controller is able to exhibit better results in terms of response time, robustness and better disturbance rejection capability.