2D Position Control of a UAV Using Fuzzy Logic Control

Abstract

Position control of UAV becomes important when it involves autonomous application such as agricultural applications. It allows the activity to be accurately and efficiently achieved as compared to manual control. In this paper, 2D position control of a quadcopter UAV is explored using fuzzy logic control. Fuzzy logic is studied as it is known for its human-like implementation as compared to other control systems. The fuzzy controllers used have three (3) membership functions each for the two (2) inputs, and one (1) output. It uses two (2) open-trapezoids, and one (1) triangle membership functions. Three (3) fuzzy controllers were used to control the $\mathrm{E}_{d}\mathrm{y}$. mid $\mathfrak{g}$ values of the 2D model of the quadcopter UAV.