Trajectory tracking control for a quadrotor using fuzzy PID control scheme

Quadrotor is an unmanned aerial vehicle (UAV) with high maneuverability. However, motion control of quadrotor is a challenging problem due to its nonlinear under actuated dynamics. In this paper, trajectory tracking control of quadrotor is studied for a nonlinear under actuated model. An inner-outer loop control paradigm is applied to control lateral motion of quadrotor. The outer loop generates desired forces to control lateral translations of quadrotor. While, the inner loop controls roll and pitch maneuvers. Also, analytical inversion is obtained to generate desired roll and pitch angles from desired lateral forces. A fuzzy proportional-integral-derivative (PID) control scheme is applied as the main part of the control law for all six degrees of freedom (DOFs). Also a feedback linearization term is considered in the control laws to compensate model nonlinearities. Performance of the proposed controller is examined by numerical simulation and is compared with a conventional PID controller.