PSO tuned FLC for full autopilot control of quadrotor to tackle wind disturbance using bond graph approach

Abstract The ability of Bond Graph (BG) in modeling multi-domain structures results in a more precise and expansive interface. Hence, this paper develops the model of a quadrotor using BG approach. Then, the paper introduces and optimizes a Fuzzy Logic Controller (FLC) with the aim of making intelligent decisions close to human decisions. Additionally, a Particle Swarm Optimization (PSO) algorithm is utilized to have minimum 4 rules for FLC, which leads the controller to be quick. It is because a fast FLC is necessary in the next part to convert the controller to a full one (considering all main states). Furthermore, two Proportional-Integral-Derivative (PID) controllers have helped the FLC to bring all the main states of quadrotor under control. In addition, the set points for the angles, which cause higher nonlinearity behavior, could now be set close to π/2. Furthermore, multi-domain model of the system has helped in modeling of constant and random variable wind disturbances for which a logical solution is suggested.