PID and Fuzzy-PID Control Model for Quadcopter Attitude with Disturbance Parameter

Endrowednes Kuantama, Tiberiu Vesselenyi, Simona Dzitac, Radu Tarca


This paper aims to present data analysis of quadcopter dynamic attitude on a circular trajectory, specifically by comparing the modeling results of conventional Proportional Integral Derivative (PID) and Fuzzy-PID controllers. Simulations of attitude stability with both control systems were done using Simulink toolbox from Matlab so the identification of each control system is clearly seen. Each control system algorithm related to roll and pitch angles which affects the horizontal movement on a circular trajectory is explained in detail. The outcome of each tuning variable of both control systems on the output movement is observable while the error magnitude can be compared with the reference angles. To obtain a deeper analysis, wind disturbance on each axis was added to the model, thus differences between each control system are more recognizable. According to simulation results, the Fuzzy-PID controller has relatively smaller errors than the PID controller and has a better capability to reject disturbances. The scaling factors of gain values of the two controllers also play a vital role in their design.


Quadcopter, PID, fuzzy-PID, Simulink, attitude

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