Comparison of PID and Fuzzy Logic Controller Performance on Linear and Nonlinear Dynamics of a Quadrotor

Muhammad Rizki Zuhri(1*)

(1) Politeknik Negeri Bandung
(*) Corresponding Author

Abstract


Unmanned Aerial Vehicles (UAVs) have garnered significant attention in recent decades. Due to their low moment of inertia, quadrotors exhibit fast dynamics and are subject to complex aerodynamic effects. Additionally, they are highly coupled, nonlinear, and inherently unstable, necessitating the use of control actuators to maintain stability. This research investigates the implementation of both PID and Fuzzy Logic Controllers (FLC) on simulated quadrotor models, considering both linear and nonlinear dynamics. Overall, the FLC demonstrated superior performance compared to the PID controller. Notably, the FLC produced no overshoot, whereas the PID controller recorded an average overshoot of 9.81%. While the FLC resulted in slightly longer average rise and settling times, it exhibited remarkable consistency, with standard deviations of only 7.51% and 2.66%, respectively. In contrast, the PID controller showed high variability, with standard deviations of 88.67% for rise time and 90.74% for settling time. These findings confirm the versatility and robustness of the FLC, which maintained consistent performance regardless of the model type, unlike the PID controller, whose effectiveness was significantly influenced by the systems linearity.

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References


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DOI: http://dx.doi.org/10.30998/faktorexacta.v18i1.26091

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