The hybrid automatic control of a quadrotor in non-deterministic environments

In this paper we consider the task of a quadrotor spatial motion control. A description of the quadrotor dynamics is given. On the basis of the presented model, a two-loop control system is proposed. The flight path planning using fuzzy logic is performed in the outer loop. The altitude and orientation angles required to implement the planned path are calculated in the inner loop using PID controllers. The efficiency of the proposed control system is confirmed by 2D and 3D simulation results.