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Journal of Advanced Transportation
Volume 2017, Article ID 4683912, 10 pages
Research Article

Intelligent Controller Design for Quad-Rotor Stabilization in Presence of Parameter Variations

Smart Autonomous System Laboratory, Kunsan National University, Jeollabuk, Republic of Korea

Correspondence should be addressed to Deok Jin Lee;

Received 24 March 2017; Accepted 5 June 2017; Published 18 July 2017

Academic Editor: Guizhen Yu

Copyright © 2017 Oualid Doukhi et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


The paper presents the mathematical model of a quadrotor unmanned aerial vehicle (UAV) and the design of robust Self-Tuning PID controller based on fuzzy logic, which offers several advantages over certain types of conventional control methods, specifically in dealing with highly nonlinear systems and parameter uncertainty. The proposed controller is applied to the inner and outer loop for heading and position trajectory tracking control to handle the external disturbances caused by the variation in the payload weight during the flight period. The results of the numerical simulation using gazebo physics engine simulator and real-time experiment using AR drone 2.0 test bed demonstrate the effectiveness of this intelligent control strategy which can improve the robustness of the whole system and achieve accurate trajectory tracking control, comparing it with the conventional proportional integral derivative (PID).