A Fuzzy Gain Scheduled Controller for Quadcopters

As the quadcopters industry grows exponentially each year. A reliable controller is needed to stabilize the quadcopter attitude and to follow a desired trajectory while considering the surrounding environment. The main challenge in controlling a quadcopter is the fact that it is a nonlinear system. Moreover, it's prone to disturbances. Thus, A mathematical model of the quadcopter was derived. Next, a hybrid adaptive controller was suggested. This was done by introducing a PID controller and tuning it's gains in real time using a fuzzy logic controller. The controllers were then evaluated through simulation with and without the effect of disturbance and noise. Finally, The results of each controller were validated.