Title: A fuzzy enhanced adaptive PID control algorithm for quadrotor aircraft

Authors: Wei Li; Kai Zhang; ChunPeng Zhang; Qiang Wang; Yi Zhang

Addresses: Advanced Manufacturing Engineering College, Hefei University, China; Anhui Provincial Engineering Technology Research Center of Intelligent Vehicle Control and Integrated Design Technology, Hefei, 230601, China ' National Synchrotron Radiation Laboratory, University of Science and Technology of China, Hefei, 230026, China ' Advanced Manufacturing Engineering College, Hefei University, Hefei, 230601, China ' Autonomous Vehicle Group, Anhui Jianghuai Automobile Group Company Limited, Hefei, 230031, China ' Anhui Province Key Laboratory of Intelligent Building and Building Energy Saving, Anhui Jianzhu University, Hefei, 230601, China

Abstract: A fuzzy enhanced adaptive PID control algorithm is designed for quadrotor unmanned aerial vehicles (UAVs). An ideal quadrotor dynamic model is established through the dynamics analysis of a quadrotor first. To verify the effectiveness of the proposed control strategy, both the hovering and trajectory tracking simulations are carried out with this method. Experiments and simulations show that the designed controller can perform well in various conditions, and the tracking error can be limited to 0.41 metres under a disturbance condition. The comparison results with the traditional PID control algorithm also prove the overall dominance of the proposed controller.

Keywords: fuzzy enhanced adaptive; quadrotor aircraft; under actuated; double closed-loop PID.

DOI: 10.1504/IJMIC.2023.132104

International Journal of Modelling, Identification and Control, 2023 Vol.43 No.1, pp.26 - 35

Received: 18 Mar 2022
Received in revised form: 11 Jul 2022
Accepted: 14 Jul 2022
Published online: 11 Jul 2023 *

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