PDFL+I Control for the Pendu-copter stabilization: Experimental Validation

In this paper we present a control strategy to stabilize the mechatronic system propeller driven pendulum or Pendu-copter. In base of the classical PID control, we combine this controller with a Fuzzy Logic (FL) Controller, using the proportional derivative action in the inference machine to have a faster convergence time and the integral action let to the system arrive to the desired stationary state in a finite time. The results are presented using numerical simulations as well as experimental tests, showing the good performance of the proposed controller.