Fuzzy Logic based Quadrotor Flight Controller

Abstract: Quadrotor unmanned aerial vehicles (UAVs) have gained a lot of research interest in the past few years, due to the clear advantages posed by their vertical take-off and landing (VTOL), hovering capability, and slow precise movements. These characteristics make quadrotors an ideal candidate for applications that require traversing through difficult environments with many obstacles. Belonging to the helicopter rotorcraft class, quadrotors are highly nonlinear systems that are difficult to stabilize. This paper proposes a fuzzy logic based flight controller for an autonomous quadrotor. Two types of fuzzy logic controllers are implemented. The developed flight controllers are tested in a quadrotor simulator and simulation results are presented to demonstrate the performance of each controller. The controllers performances are also benchmarked against conventional control based techniques such as input-output linearization, backstepping and sliding mode control. In comparison with other conventional control techniques mostly designed for indoor applications, the proposed fuzzy logic based controllers showed satisfactory control of the quadrotor in the presence of various disturbances such as sensor noise and high wind conditions.