A fuzzy enhanced adaptive PID control algorithm for quadrotor aircraft

A fuzzy enhanced adaptive PID control algorithm is designed for quadrotor unmanned aerial vehicles (UAVs). An ideal quadrotor dynamic model is established through the dynamics analysis of a quadrotor first. To verify the effectiveness of the proposed control strategy, both the hovering and trajectory tracking simulations are carried out with this method. Experiments and simulations show that the designed controller can perform well in various conditions, and the tracking error can be limited to 0.41 metres under a disturbance condition. The comparison results with the traditional PID control algorithm also prove the overall dominance of the proposed controller.