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Design of Fuzzy-PID Controller for Quadcopter Trajectory-Tracking
Int. J. Fuzzy Log. Intell. Syst. 2018;18(3):204-213
Published online September 25, 2018
© 2018 Korean Institute of Intelligent Systems.

Mohammed Rabah1, Ali Rohan1, Yun-Jong Han2, and Sung-Ho Kim3

1School of Electronics and Information Engineering, Kunsan National University, Gunsan, Korea
2Associate Research Engineer, Nongboochon company, Korea
3Department of Control and Robotics Engineering, Kunsan National University, Gunsan, Korea
Correspondence to: Sung Ho Kim
Received August 21, 2018; Revised September 2, 2018; Accepted September 2, 2018.
This is an Open Access article distributed under the terms of the Creative Commons Attribution Non-Commercial License ( which permits unrestricted non-commercial use, distribution, and reproduction in any medium, provided the original work is properly cited.
Trajectory-tracking is an attractive application for quadcopters and a very challenging, complicated field of research due to the complex dynamics of a quadcopter. Various control algorithms have been developed to stabilize the quadcopter over a certain trajectory since it is hard for a quadcopter to follow a certain trajectory. In this paper, a fuzzy-PID controller is designed to stabilize the quadcopter over a certain trajectory using the speed information as an input. The proposed controller is compared to a PD controller and a fuzzy logic controller (FLC) to distinguish which has a better performance using MATLAB/Simulink. The simulation results demonstrate that under different trajectories the fuzzy-PID controller shows a better response than the other two controllers.
Keywords : Fuzzy logic controller, Fuzzy-PID, Quadcopter, MATLAB/Simulink, Trajectory-tracking