Simplified fuzzy ‐Padé controller for attitude control of quadrotor helicopters

In this study, a simplified fuzzy‐Padé controller (FPC) for attitude control of quadrotor helicopters is proposed, which is non‐linear, fractional, and model independent. To determine some of the unknown coefficients of the Padé approximant, a proportional–derivative‐type fuzzy logic controller (FLC) is first designed. The responses of the simplified FPC due to step set‐point manoeuvres are compared with those of the FLC in terms of several performance indices such as rise time, settling time, percentage overshoot, integral absolute error, integral of time multiplied by AE, central processing unit time, and energy consumption. Simulation results demonstrate that in each case the proposed FPC presents an improved performance over the FLC. The asymptotic stability of the simplified FPC is proved with Lyapunov stability theory and La Salle's invariant set theorem. Unlike the FLC, the proposed FPC is simple enough to be implemented on the on‐board electronics of the quadrotor. Flight experiments in hovering conditions are given to demonstrate the effectiveness of the simplified FPC.