A new fuzzy adaptive control for a Quadrotor flying robot

摘要

Widespread application of unmanned flying robots to provide military and nonmilitary requirements is depend on their ease of application. If various equipments such as camera and graspers are installed on a flying robot, the dynamic model will be changed. Hence, it is necessary to adapt the controller to the changes of dynamic model of flying robot. In this paper, a new fuzzy adaptive controller is designed for the flight control of a Quadrotor. The fuzzy PID controller has been implemented on the robot through Hardware-In-the-Loop (HIL) simulation in LabVIEW software. The fuzzy rules are defined as well as range of membership functions. Finally, the performance of controller is experimentally verified and the results are concluded.