A PID and fuzzy logic based method for Quadrotor aircraft control motion

This paper proposes a quadrotor aircraft motion control method based on the combination of PID and a fuzzy control algorithm. The dynamical system of quadrotor aircrafts is modeled. Target colors are recognized and tracked based on the OpenCV. The target-following flight attitudes of the quadrotor is controlled by a fuzzy PID control algorithm. We focus on exterior, unknown, interfering factors, such as gusts, and adjust k_p, k_i, k_d parameters online in real time. This allows the response speed of the quadrotor flight control system to increase and improves the anti-jamming capability for the exterior non-linear factors. The simulation of the control system is accomplished with the Matlab/Simulink, and the real flight tests are based on the Parrot AR Drone 2.0 quadrotor aircraft, which verifies the effectiveness of the proposed method. The proposed method is able to improve the adaptability of the quadrotor for exterior, environmental changes, shorten the system adjustment time and improve the following accuracy of the quadrotor.