Simple fuzzy solution for quadrotor attitude control

Abstract

This paper presents new computationally efficient and easy to tune attitude control of a four rotor helicopter called quadrotor. Short description of quadrotor concept and control framework is given and the segment of inner attitude control of the aircraft is addressed. Proposed fuzzy proportional - differential (PD) control structure utilizes Sugeno fuzzy engine, with simple intuitive set of rules and set of physically meaningful parameters. The verification of proposed solution was done via simulation and comparison with existing backstepping based attitude control system.