Altitude and Position Control of Parrot Mambo Minidrone with PID and Fuzzy PID Controllers

Minidrones are widely used as they are not only fast quadcopters with high manoeuvrability but also excellent research platforms for indoor usage. In this study, we provide the design and deployment of the PI-PD and Fuzzy PI-PD (FPI-PD) structures to solve position control problem of the Parrot Mambo Minidrone. In this context, we derive nonlinear mathematical model of Parrot Mambo Minidrone to obtain the control models of the minidrone. Then, via the control models, firstly PI-PD control systems are designed for the altitude and position control systems. Then, to handle the coupled nonlinearities, FPI-PD controllers are designed and employed in the position control loop of minidrone. The presented comparative real-world experiment results clearly show that the proposed control systems outperform the built-in ones. Moreover, the results show that the performance of FPI-PD is better than the built-in PD and designed PI-PD control systems.