Quadrocopter Fuzzy Flight Controller

Sammanfattning: Quadrocopter is an aerial vehicle platform which has become very popular among researchers in the recent past due to the advantages it offers over conventional helicopters. Quadrocopter is very simple and unique, but it is inherently unstable from aerodynamics point of view. In recent past researchers have proposed many control schemes for quadrocopter. In this thesis we present fuzzy logic controller for quadrocopter. After brief introduction brief hardware details are given that is used in this thesis. After that design procedure for the fuzzy controller is presented. Then the designed fuzzy controller is tested in Hardware In Loop (HIL) setup. The experimentation to validate the functionality and applicability of the designed controller were performed in contrained setup due to some technical problems. The results of the experiments were satisfactory and it is concluded that it is possible to stabilize quadrocopter with fuzzy logic controller.