Fuzzy adaptive PD control for quadrotor helicopter

Quadrotor is a strong coupling, under actuated complex system with multi inputs and multi outputs. In this paper, the quadrotor UAV model was presented at first. In order to control the position and attitude respectively, a nested loops control strategy was employed. The full control was divided into two parts, i.e. position control and attitude control. Both a PD controller and a fuzzy adaptive PD control er were designed. Finally, in order to give the comparison results, a quadrotor simulation system was set up in Matlab Simulink.