Quadrotor Control Using Advanced Control Techniques

Abstract

Control of the quadrotor has been noted for its difficulty as the result of the so-called high maneuverability, exceedingly nonlinear system and strongly coupled multivariable. This work deals with the simulation depend on proposed controllers of a quadrotor that can overcome this difficulty. The quadrotor mathematical model is derived using a Newton-Euler formulation. Three types of controllers are investigated to control and stabilization the position and attitude of quadrotor using feedback linearization. The first controller is Fuzzy-PID, it is considered as a reference benchmark to compare its results with the others two controllers which are PID tuned using GA and ANFIS. The performance of the designed control structure is evaluated through the response and minimizing the error of the position and attitude. Simulation results, shows that position and attitude control using Fuzzy-PID has fast response and better steady state error and RMS error than ANFIS and PID tuned using GA. The all controllers are tested by simulation under the same conditions using SIMULINK under MATLAB2015a.