Development of Autonomous Quadcopter

TL;DR

This paper presents the development of an autonomous quadcopter with an ANFIS controller for attitude and altitude control, comparing its performance to traditional controllers to demonstrate effectiveness.

Contribution

It introduces an ANFIS-based control system for quadcopters and provides a clear linearized mathematical model, enhancing control accuracy and understanding.

Findings

ANFIS controller outperforms PD and fuzzy logic controllers

Linearized model simplifies analysis and design

Demonstrates effective autonomous quadcopter control

Abstract

The main objective of this work is demonstrated through two main aspects. The first is the design of an adaptive neuro-fuzzy inference system (ANFIS) controller to develop the attitude and altitude of a quadcopter. The second is to establish the linearized mathematical model of the quadcopter in a simple and clear way. To show the effectiveness of the ANFIS approach, the performance of a well-trained ANFIS controller is compared to a classical proportional-derivative (PD) controller and a properly tuned fuzzy logic controller.