Path tracking of UAV using self-tuning PID controller based on fuzzy logic

The main purpose of this paper is to develop a robust control methodology for an unmanned aerial vehicle (UAV) with quad-rotor mechanism. A conventional proportional-integral-derivative (PID) controller and self-tuning PID based on fuzzy logic are compared and analyzed. Self-tuning PID based on fuzzy logic is suitable for systems suffering from uncertain parameters, such as variation in payload, as the algorithm is able to adjust the gain of the PID controllers so that they maintain robustness and performance. The performance results of the two controllers when applied to a quad-rotor UAV are demonstrated using numerical simulation.