Modeling and Simulation of Quadcopter Using Self-tuning Fuzzy-PI Controller

Helicopters, commonly known as quadrotors (UAVs), are popular unmanned aerial vehicles. Despite their small size and high stability, they are used in a variety of applications. This chapter presents the fundamental principles for modeling and controlling quadcopters that will form the basis for future research and development in the field of drones. The problem is addressed on two fronts; first, the mathematical dynamic models are developed, and second, the trajectory of the quadcopter is stabilized and controlled. IMUs (Inertial Measurement Units) consist of accelerometers and gyroscopes and constitute the core of the system. In order to fly the quadcopter in six directions, it is necessary to determine the orientation of the system and control the speed of four BLDC motors. A Matlab/Simulink analysis of the quadcopter is performed. A self-tuning fuzzy-PI regulator is used to control the quadcopter’s pitch, roll, and yaw. It was evaluated whether the quadcopter controller was effective and efficient, and the desired outputs were discussed.