Developing geno-fuzzy controller for suppressing quadrotor slung-load oscillations

Quadrotors with slung loads have many real-life applications, therefore a new fuzzy logic controller (FLC) is proposed to suppress the oscillations of this load. The output of the proposed FLC will be an additional trajectory that is added to the quadrotor original trajectory. The integration of the proposed FLC with the existing quadrotor autopilot such PX4 will be easy and it will not need any modification to the original structure of the autopilot. The rules of the proposed FLC are generated to mimic the performance of the anti-swing controller that depends on the time-delayed feedback of the load swing angles. The optimal distribution of the membership functions is determined by the genetic algorithms technique such that the load swing history is minimal. The simulation results show that the suggested geno-fuzzy controller is able to stabilize the vehicle and reduce the slung load oscillations under different flight conditions. Moreover, it can be implemented directly on the existing flight controllers without making any modification to the code of the original firmware.