Altitude control of quadrotor using fuzzy self tuning PID controller

This paper presents fuzzy self-tuning PID controller for controlling the altitude of the quadrotor. Although the PID controllers have many advantages, it has a limitation that the main term gains called proportional gain, integration gain, and derivative gain have to be tuned manually. One of a solution to manage its limitation is adding the special feature called self-tuning. So, a fuzzy self-tuning PID controller is proposed to adjust the gain parameter of PID controller. As a result, two control techniques were then developed and synthesized for comparing; a linear PID controller only and fuzzy self-tuning PID controller. A complete simulation was then implemented on MATLAB/Simulink relying on the derived mathematical model of the quadrotor.