POSITION CONTROL OF A QUADCOPTER WITH PID AND FUZZY-PID CONTROLLER

Abstract

In this study, PID based efficient control systems are designed and compared for position control of a quadcopter in six degrees of freedom. The main goal is to get the quadcopter to the desired position in three-dimensional space. Firstly, the desired position for the quadcopter to reach is determined. Then, the physical model of the system is selected, and mathematical model is derived according to the physical model. Initially, all external disturbances like drag force and wind are neglected. However, various external disturbances are then applied to the system to measure robustness of the designed controllers. Firstly, PID controller is implemented to the quadcopter system. Secondly, Fuzzy-PID controller is used. Necessary pitch and roll angles are found and control forces are calculated by using both controllers. Also, angular velocities of the motors and current values which are needed to be supplied to each motor are calculated and compared to evaluate performance and applicability of the proposed controllers. According to the results, it is observed that both controllers worked successfully, quadcopter is able to reach the desired location in three-dimensional space. However, Fuzzy-PID controller gives faster response and smaller overshoot levels than basic PID controller. In addition, it is seen that the Fuzzy-PID controller is less affected by external disturbances, and it recovers faster against these changes.