Improvement of PID Based on Fuzzy Logic Controller for Controlling Attitude of a Quadcopter

The quadcopter has a fairly simple mechanical design because it does not require other drives to perform various movements such as roll, pitch, and yaw. The simplicity of this mechanical design has a considerable impact on the complexity of its control. Therefore, it is necessary to have a good control method to maintain the stability of the quadcopter. The research aims to maintain stability of quadcopter by using a combination of the Fuzzy Logic Controller (FLC) with the Proportional-Integral-Derivative (PID) method, where FLC is used to initialize the input of the PID method to find the quadcopter stability point. The application of fuzzy methods for the initial tuning of PID parameters has proven effective in enhancing the system's fundamental performance, such as overshoot, rise time, and settling time, compared to the conventional PID approach. The proposed method can reduce overshoot by over 20%, with reductions reaching up to 88% in yaw motion. Additionally, the Fuzzy-PID approach significantly improves stability, shortening the time to achieve steady-state by less than 1 seconds for all movements while PID did more than 2s for pitch and roll motions and over 1s for yaw motion.