Autonomous path tracking and disturbance force rejection of UAV using fuzzy based auto-tuning PID controller

Abstract

This paper focuses on the development of a robust, power-efficient control methodology for an unmanned aerial vehicle (UAV) with a quad-rotor mechanism. Two control algorithms are compared and analyzed: a conventional proportional-integral-derivative (PID) controller; and a fuzzy logic-based auto-tuning PID controller. Auto-tuning PID controllers are suited for systems suffering from power constraints, as the algorithm is able to intelligently adjust the gains of the PID controllers so that they maintain robustness and performance while minimizing power consumption for a wide range of external disturbances. The performance results of the two controllers when applied to a quad-rotor UAV are demonstrated using numerical simulations.