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Conference Papers Year : 2017

Adaptive fuzzy PID control for a quadrotor stabilisation


This paper deals with the design of an adaptive fuzzy PID control law for attitude and altitude stabilization of a quadrotor despite the system model uncertainties and disturbances. To this end, a PID control with adaptive gains is used in order to approximate a virtual ideal control previously designed to achieve the predefined objective. Specifically, the control gains are estimated and adjusted by mean of a fuzzy system whose parameters are adjusted online via a gradient descent-based adaptation law. The analysis of the closed-loop system is given by the Lyapunov approach. The simulation results are presented to illustrate the efficiency of the proposed approach.



Dates and versions

hal-01742587 , version 1 (25-03-2018)



Nidhal Cherrat, Hamid Boubertakh, Hichem Arioui. Adaptive fuzzy PID control for a quadrotor stabilisation. 2017 Workshop on Materials and Engineering in Aeronautics (MEA 2017), Nov 2017, Moscow, Russia. (elec. proc.), ⟨10.1088/1757-899X/312/1/012002⟩. ⟨hal-01742587⟩
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