Designing Mamdani-Based Fuzzy System for Disturbance-Robust Attitude Control of Quadrotor Hardware-in-the-Loop Setup

The main purpose of this paper is to represent a fuzzy-based controller that offers superior performance relative to the classical controllers in order to control the attitude of a quadrotor. In the real situations, the uncertainties such as estimation of the thrust forces, geometrical parameters, existence of unknown resisting forces and torques, and nonlinearity of the quadrotor are the reasons which cause a classical controller such as PID cannot lead to accurate result in controlling the quadrotor attitude. So, designing a controller that has the ability to eliminate the effects of these uncertainties can increase the accuracy of controlling the attitude of a quadrotor. Toward this objective, after extraction of the dynamic equations of a quadrotor, a PID controller with appropriately selected coefficients has been designed. Then, to eliminate the nonlinearity and uncertainty effects, a fuzzy controller based on Mamdani max-product method is presented. To show the ability of the proposed fuzzy controller, the designed controllers are implemented to a hardware-in-the-loop quadrotor flight simulator. The obtained experimental results on the test-bench show that fuzzy controller has an improvement of 56% in Mean Error.