Quadcopter with Fuzzy Logic based Self-Tuning PID Controller

This paper presents a fuzzy logic-based self-tuning PID controller for real-time adaptive PID parameter tuning in dynamic flight conditions. Quadcopters need adaptive and precise control for stable flight under changing conditions like wind turbulence and changing payloads. Conventional Proportional-Integral-Derivative (PID) controllers, although common, need manual tuning and are not real-time adaptive in dynamic flight conditions. The proposed fuzzy logic adaptation mechanism provides system responsiveness with continuous control gain adjustments, achieving better stability, less overshoot, and quicker response. The system is simulated and tested under MATLAB Simulink, where simulation results confirm that the self-tuning fuzzy PID controller performs better than conventional PID controllers in terms of stability, trajectory accuracy, and disturbance rejection. Results demonstrate the efficiency of adaptive control in unmanned aerial vehicle (UAV) control, enabling real-time deployment in autonomous drone flights.