Design and Implementation of Attitude Control for Quadrotor UAV Based on Adaptive Fuzzy PID

Quadrotor UAV(Unmanned Aerial Vehicle) is a nonlinear control system with multi-variable, underactuated and strong coupling. Only one control method cannot meet its attitude control requirements. Usually, a combination of multiple control methods is used to improve its stability, accuracy and anti-interference ability as much as possible. In view of the problems of the classical PID control parameters, such as difficulty in setting parameters, non-adaptive change of parameters and susceptible to external environment interference in the flight of the quadrotor UAV, an adaptive fuzzy PID controller is adopted to compose the quadrotor attitude controller. Based on the theory of fuzzy mathematics, a fuzzy PID controller is designed on the basis of classical PID control by establishing the dynamics model of the quadrotor UAV system, after attitude calculation, and realizes the on-line adjustment of PID control system parameters of the quadrotor UAV.