Design and Implementation of Pure Fuzzy Controller for Attitude Control of Quadrotor using Kalman Filter

This paper presents a control algorithm based on pure fuzzy method for attitude control of the quadrotor. Error and error rate are the input parameters of the fuzzy system and control inputs will be generated based on predetermined fuzzy rules. Based on the nonlinear dynamics of quadrotor, fuzzy controller provides a satisfactory response for stabilization and attitude control of the robots. To study the performance of fuzzy control algorithm, a set of sensors and the quadrotor is used in the experimental model. The system consists of accelerometer and gyroscope sensors and a microcontroller which is used to design fuzzy attitude controller for the quadrotor. Three-axis gyroscope and accelerometer sensors are used to estimate the angular position of the quadrotor. Considering that the experimental data has lots of errors and noises, Kalman filter is used to reduce the noises. The experimental results indicates the successful design of fuzzy controller for the quadrotor