Motion Control of a Mini-Quadcopter Using a Fuzzy-PD Controller

Drones have been used extensively in the last decade, and there are estimates that this trend will continue in the coming decades. Having a sophisticated motion control algorithm is one of the important keys when we invite drones into our daily life. This paper develops a Fuzzy-PD controller for a Parrot mini-quad copter to follow various specific paths while keeping its stability. A nonlinear six Degrees of Freedom (DOF) model of the mini-quadcopter is considered to simulate different maneuvers in the Matlab/Simulink software. The proposed Fuzzy-PD controller has been investigated with respect to a conventional PD controller through two different trajectories. The virtual reality results validate the proper performance of the designed motion controller compared with the outcome of the conventional PD controller.