FUZZY LOGIC CONTROLLER DESIGN FOR QUADROTOR IN REAL TIME

Abstract

The purpose of this study is to design and verify a fuzzy logic controller for a Quadrotor ,which is a nonlinear system due to its mathematical model, in real time experimental setup. In this sense performances of the fuzzy controllers were compared with the performances of PID controllers that were designed for the same Quadrotor. Controllers were verified and their performances were augmented in an experimental setup that facilitates to set parameters in real time. When nonlinear dynamics of system due to mathematical model are increasing, designed fuzzy controller trajectory pursuit and robustness performance is getting better than PID controller’s performance. When the improvement in microprocessor technology is considered, fuzzy logic controller, which do not require dense mathematical operations in design process, design and verification for the control of nonlinear dynamic systems is very simple and fast.

Keywords

• Fuzzy Logic Control
• Quadrotor
• Real Time Hardware in the Loop Simulation