Fuzzy membership functions optimization of fuzzy controllers for a quad rotor using particle swarm optimization and genetic algorithm

Quad rotor as an Unmanned Aerial Vehicle (UAV) has always drawn attention due to its widespread military and civilian applications during the recent decades. Despite the simplicity in design, the vehicle is inherently unstable. Hence, designing a proper controller to reach the stability purpose is of a great importance. In this paper fuzzy controllers have been proposed to control a quad rotor. Due to the high reliance of fuzzy controller's performance on the membership functions, the membership functions are optimized using particle swarm optimization and genetic algorithm. Finally, the results of the proposed methods are compared to verify their effectiveness on the fuzzy controllers.