Parameter selection based on fuzzy logic to improve UAV path-following algorithms

Abstract

In order to steer an Unmanned Aerial Vehicle (UAV) and make it follow a desired trajectory, a high level controller is needed. Depending on the control algorithm, one or more parameters have to be tuned, having their values high impact on the performance. In most of the works, these parameters are taken as constant. In this paper, we apply fuzzy logic to select the parameters of the control law and compare this approach with the tuning by constant parameters and with another adjusting method based on the kinematic analysis of the equations of the UAV. After many simulations of the quadrotor following randomly generated paths, we have proved that the fuzzy tuning law is not only a good and feasible solution, but also more general as it can be applied to any trajectory.