Autonomous Control of a Quadcopter via Fuzzy Gain Scheduled PD Control

The book "Autonomous Control of a Quadcopter via Fuzzy Gain Scheduled PD Control" offers a comprehensive examination of the nonlinear dynamics of quadcopters and their control. It presents an innovative approach that utilizes the Fuzzy Takagi-Sugeno method to control the position and yaw angle of the quadcopter. The work addresses the challenges posed by the spontaneous switching of the rotors and their effects on the motors. By implementing a Gain Scheduled PD controller with a Fuzzy Supervisory Gain Offset mechanism, the adaptability of the control system to changing environmental conditions is enabled. This adaptive control combines classical and modern control approaches, ensuring that the demands on onboard computing capacity remain low while the control parameters are continuously updated to compensate for disturbances and enhance the robustness of the system.