A velocity feedback fuzzy logic controller for stable hovering of a quad rotor UAV

Abstract

Quad Rotor unmanned aerial vehicle (UAV) is an aerial vehicle platform which has drawn much attention in the recent past due to its simple yet unique design. Despite the simplicity in the hardware, the vehicle is inherently unstable, and many control strategies have been proposed to achieve stability and control of the quad rotor platform. This paper presents a Fuzzy Logic based design to stabilize and control the quad rotor UAV. The fuzzy controller was designed and simulated along with a non-linear dynamic model of the quad rotor UAV. The fuzzy controller was then used to achieve stable hovering of the quad rotor UAV, amidst velocity disturbances. The simulation results show that stable hovering conditions can be achieved with the designed controller.