Nonlinear direct adaptive control of quadrotor UAV using fuzzy logic technique

The paper presents the design of a robust intelligent control strategy for a highly nonlinear and underactuated quadrotor UAV in the presence of external disturbances, system uncertainties and stochastic external and internal perturbations. Mamdani fuzzy logic control technique was implemented for the quadrotor UAV. The underactuated subsystem control comprises of the altitude, roll, pitch and yaw degrees-of-freedom (DOF). The proposed control method was validated through simulation. The simulation results showed that the designed controllers are efficient, reliable, robust and flexible. It is recommended that real-time simulation be done to further validate the simulation results.