Optimal attitude control of a quadrotor UAV using Adaptive Neuro-Fuzzy Inference System (ANFIS)

Abstract

This paper develops an Adaptive Neuro-Fuzzy Inference System (ANFIS) to control a quadrotor UAV. Adaptive capabilities of the proposed controller help to stabilize the complex and under-actuated rotorcraft system. Parameters of the controller are optimized using Nondominated Sorting Genetic Algorithm-II. Simulations show that ANFIS improves response properties compared to simple PID control.