Fuzzy-PID hybrid control system to navigate an autonomous mini-Quadrotor

Abstract

This paper report on the synthesis of a flight control system for an autonomous mini-Quadrotor. This system is developed on the base of realistic non-linear mathematical model. It's consisting of hybrid controllers, two controllers are Mamdani-type fuzzy controllers for attitude control. These fuzzy controllers are designed using a simple rule base. Four conventional SISO PID controllers are also used for roll, pitch, yaw angles and altitude control, Performance issues of flight control system are illustrated in a simulator of the Quadrotor in Matlab Simulink. The results show that the overall system becomes stable and robust.