Fuzzy-Lyapunov based quadrotor controller design

Abstract

Fuzzy control algorithms are frequently used in controlling highly nonlinear systems or systems whose mathematical model is difficult to describe. A quadrotor represents a class of flying objects with four rotors symmetrically attached on its construction. As highly nonlinear and unstable system quadrotor is suitable candidate for implementation of fuzzy control. In this paper, we present fuzzy control algorithm for position and orientation of quadrotor which is based only on basic physical assumptions of the system. Therefore, mathematical model is not necessary for control algorithm synthesis. Direct Lyapunov stability criterion and fuzzy arithmetic were used to prove stability of the control algorithms. Simulations were performed in Matlab to validate the control. Furthermore, control laws were tested on Gumstix microcomputer platform using AHRS sensor information.