Synthesis of Fuzzy Controller Based on Simple PID Controller

Abstract

This article will present the nonlinear mathematical model of quadrotor, then this model will be linearized around more than one operational point to cover all nonlinear system dynamics while fulfilling different movements. PID controller was developed with considering of control signals constraints. The data of closed loops PID of quadrotor including error and control signals will be analyzed to derive the most appropriate input and output linguistic variables and rule base that describe the behavior, more precisely the dynamics of the system. The proposed method of analysis will define the main parameters of fuzzy controller and help avoiding the complexity of contributing experts’ knowledge which is either difficult to give full description neither readily exists in reach of the designer. This will lead to design a fuzzy controller that is supposed to maintain the performance of basic PID controller and to be immune to uncertainty of the model coefficients.