Fuzzy-proportional-integral-derivative-based controller for stable control of unmanned aerial vehicles with external payloads

In the paper, a proportional derivative (PD) controller and a fuzzy system tuning gains from proportional integral derivative controller are applied to stabilize an unmanned aerial vehicle (UAV), to control the attitude. Inputs of fuzzy logical controller consist of the speed required for the distance between the current position of quadcopter and the defined reference point and differences between orientation angles and variance in differences. Outputs of fuzzy logical controller consist of the proportional integral derivative coefficients which make pitch, roll, yaw and height values. The fuzzy-PD control algorithm is real-time applied to the quadcopter in MATLAB/Simulink environment. Based on data from experimental studies, although both classical proportional integral derivative controller and fuzzy-PD controller have accomplished to track a defined trajectory with the quadcopter.