Improving Disturbance Rejection Capability for a Quadcopter UAV System Using Self-Regulating Fuzzy PID Controller

Abstract

The quadcopter model is one of the most versatile flying machines nowadays. However, it is an under-actuated, highly non-linear, and coupling system. It is also sensitive to external disturbances and uncertainties while trajectory tracking. Thus, in this study, a robust control method for the quadcopter system was proposed to improve system stability and disturbances rejection capability by utilizing a Self- Regulating (SR) Fuzzy Proportional-Integral-Derivative (FPID) control system, to be known as (SR-FPID) scheme. The proposed control system was designed based on the Fuzzy Logic (FL) to provide the automatic tuning of the PID control parameters based on various operating and loading requirements. The simulated results reveal the efficiency and robustness of the SR-FPID scheme in significantly improving the disturbance rejection capability and reducing the percentages of the settling time and the peak time of at least 97% in the presence of various forms of external perturbations.