Quadrotor unmanned aerial vehicle controller design and synthesis

The field of UAVs is quit rich of applications and it can be considered as one of the major fields that can have great future potential. For the four motors vertical take-off and landing (VTOL) aircraft known as the quadcopter specially. it have drawn great attention of the scientific researchers nowadays. It is considered as a prospective solution to a quit variety of applications. This paper is concerned with modeling and control basics that are of huge concern due to unmanned aerial vehicle model complications, nonlinearity, coupling, inherent instability and parameter values ambiguity. Two types of controllers are designed to reach a stable compensated system around the hovering point. Enhanced PID controller is designed first for the unmanned quadcopter aerial vehicle. Then, Adaptive Neuro Fuzzy Inference controller (ANFIS) is refined for the nonlinear system. Input-output data of the enhanced PID controlled among the entire range of operation are gathered. These informations are used for the ANFIS controller design as learning and checking data. The controller achieved using ANFIS, as a nonlinear controller, are correlated with the enhanced PID controller results achieved at the hovering point of operation. The conclusion from these results affirm the efficiency of the ANFIS as quadcopter nonlinear controller.