Multi-Closed-Loop Design for Quadrotor path-Tracking Control

Abstract

This paper deals with fuzzy logic controller design for quadrotor UAVs, to provide robustness capability for trajectory tracking control. Specifically, a multi-closed-loop control strategy is proposed, where a fuzzy proportional-derivative-like plus an integral action is proposed for controlling the quadrotor system. First, the control design steps are presented for the proposed controller, namely the fuzzy PD-like and the integral control action. Then, all scaling factors control parameters are optimized using PSO algorithm and ITAE criterion. Afterwards, using a trajectory path-tracking simulation scenario, the overall control system performances are investigated in presence of imprecise quadrotor mass parameter due to unknown payload mass disturbance. The performances of the proposed controller are compared to those of conventional PID-based and single fuzzy PD-like controllers. The simulation results show that the proposed multi-closed loop-control is able to stabilize the quadrotor attitude, to achieve better trajectory tracking, and to compensate for unknown payload mass disturbances. Thus, the proposed control strategy for quadrotor UAVs could be considered as an additional robust solution to the control problem design for quadrotor path-tracking problem.