Research On Four - Rotorcraft Control Based On Fuzzy PD Algorithm

With the development of astronautical technology, four-rotor aircraft is widely used in military and civilian fields for its low cost, high performance, and high maneuverability. In recent years, the four-rotor aircraft can perform basic hovering, tracking, formation control, monitoring, and premium flip tasks. It is applied to highway cruising areas, search and rescue missions, disaster relief operations, environmental monitoring and surveillance.This paper mainly researched the implementation of fuzzy PD algorithm for four rotor which means using nonlinear tracking differentiators in PD regulator differential part and input differential part, then the differentiators are applied in fuzzy controller to achieve the fuzzy PD control algorithm. In particular, the realizable fuzzy PD control algorithm has the advantages of robustness, strong adaptability and not depending on the mathematical model which has high accuracy. Finally, experimental simulations show the validity of the proposed control algorithm compared with the traditional PID control algorithm.