Autonomous Control of a Quadcopter via Fuzzy Gain Scheduled PD Control

This paper discusses the Intelligent Gain Scheduled PD technique to autonomously control the attitude of the Quad Copter. This paper would focus on two aspects of the autonomous quad-copter i.e. Attitude Control and Trajectory Following. The autonomous control of a quad-copter is a challenge due to its non-linear dynamics and environmental perturbations. The aim of the investigation is to study a Fuzzy Takagi-Sugeno method used to control the position and the yaw angle of the quad-copter and to compare the simulated results with the conventional PD Controller.