Self tuning fuzzy PD application on TI TMS320F28335 for an experimental stationary quadrotor

Unmanned air vehicles (UAV) and especially quadrocopters have drawn great attention in recent years because of their maneuverability and challenging control problem. Most of the works concentrate mostly on control; yet, design and communication are also some sub-topics. In this research, a TI TMS320F28335 DSC controller is used to control and to process the I/O signals of an experimental stationary quadrocopter with limited/controlled degree of freedom. Hybrid self tuning fuzzy PD control is applied to the system through Matlab-Simulink interface. Ascending/descending, pitch/yaw/roll motions can be limited/controlled by setting the vehicle´s degree of freedom mechanically, resulting better net observability of the control algorithms on the vehicle´s dynamic performance. Design, in terms of mechanics, mechatronics and software is presented and the usability of the system is shown.