Real fuzzy PID control of the UAV AR.Drone 2.0 for hovering under disturbances in known environments

The Indoor flights of UAV (Unmanned Aerial Vehicle) are susceptible to impacts of multiples obstacles and walls. The most basic controller that a drone requires in order to achieve indoor flight, is a controller that can maintain the drone flying in the same site, this is called hovering control. This paper presents a fuzzy PID controller for hovering. The control system to modify the gains of the parameters of the PID controllers in the x and y axes as a function of position and error in each axis, of a known environment. Flight tests were performed over an AR.Drone 2.0, comparing RMSE errors of hovering with classical PID and fuzzy PID under disturbances. The fuzzy PID controller reduced the average error from 11 cm to 8 cm in a 3 minutes test. This result is an improvement over previously published works.