Modeling, robustness, and attitude stabilization of indoor quad rotor using fuzzy logic control

This paper presents the dynamics and control of a small-scale quad-rotor using custom-built airframe and off-the-shelf avionics, motors and batteries. It consists of three sections; nonlinear-modeling and linearization, analysis, and control. The modeling section incorporates the airframe and motors dynamics as well as aerodynamic. The modeling process includes analytical equations and experimental identification of different parameters which is difficult to be estimated analytically. The analysis section includes robustness analysis of our model and the determination of stability regions. The control section consists of the three processes of the fuzzy logic control. A simulator of the complete system was built using Matlab and Simulink. The control code was written in C and was implemented in a PIC microcontroller. A quad-rotor prototype was built and controlled with the selected controller to show good stabilization and good matching with the simulator.