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Adaptive fuzzy PID control for a quadrotor stabilisation

Abstract : This paper deals with the design of an adaptive fuzzy PID control law for attitude and altitude stabilization of a quadrotor despite the system model uncertainties and disturbances. To this end, a PID control with adaptive gains is used in order to approximate a virtual ideal control previously designed to achieve the predefined objective. Specifically, the control gains are estimated and adjusted by mean of a fuzzy system whose parameters are adjusted online via a gradient descent-based adaptation law. The analysis of the closed-loop system is given by the Lyapunov approach. The simulation results are presented to illustrate the efficiency of the proposed approach.
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https://hal.archives-ouvertes.fr/hal-01742587
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Submitted on : Sunday, March 25, 2018 - 5:13:22 PM
Last modification on : Thursday, April 7, 2022 - 3:44:11 PM

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Nidhal Cherrat, Hamid Boubertakh, Hichem Arioui. Adaptive fuzzy PID control for a quadrotor stabilisation. 2017 Workshop on Materials and Engineering in Aeronautics (MEA 2017), Nov 2017, Moscow, Russia. (elec. proc.), ⟨10.1088/1757-899X/312/1/012002⟩. ⟨hal-01742587⟩

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