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1. Sattar, Muhammad Awais. Adaptive Fuzzy Control of Quadrotor.

Degree: MS, 2017, Rochester Institute of Technology

In this thesis, intelligent controllers are designed to control attitude for quadrotor UAV (Unmanned Aerial Vehicle).Quadrotors have a variety of applications in real time e.g. surveillance, inspection, search, rescue and reducing the human force in undesirable conditions. Quadrotors are generally unstable systems; the kinematics of quadrotor resembles the kinematics of inverted pendulum. In order to avoid the possibility of any kind of damages, the mathematical model of quadrotor should be developed and after that, the different control techniques can be implemented. This thesis presents a detailed simulation model for a Quadrotor. For the control purpose, three classical and modern control strategies are separately implemented which are PID, Fuzzy, and Adaptive Fuzzy PID for four basic motions roll, pitch, yaw, and Z/ Height. For better performance, error reduction and easy tuning, this thesis introduces individual controllers for all basic motion of a Quadrotor. The modeling and control is done using MATLAB/Simulink. The main objective of this thesis is to get the desired output with respect to the desired the input. At the end, simulation results are compared to check which controller acts the best for the developed Quadrotor model Advisors/Committee Members: Abdulla Ismail.

Subjects/Keywords: Adaptive fuzzy PD; Dynamics; Fuzzy logic control; PD control; Roll pitch yaw; UAV

…47 Chapter 5 Adaptive Fuzzy PD Control of Quadrotor… …50 5.2 Adaptive Fuzzy PD Control… …51 5.3 Adaptive Fuzzy PD Based Controller… …51 Figure 5-4: Adaptive Fuzzy PD Roll Controller… …52 Figure 5-5: Adaptive Fuzzy PD Pitch Controller… 

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APA (6th Edition):

Sattar, M. A. (2017). Adaptive Fuzzy Control of Quadrotor. (Masters Thesis). Rochester Institute of Technology. Retrieved from

Chicago Manual of Style (16th Edition):

Sattar, Muhammad Awais. “Adaptive Fuzzy Control of Quadrotor.” 2017. Masters Thesis, Rochester Institute of Technology. Accessed January 15, 2021.

MLA Handbook (7th Edition):

Sattar, Muhammad Awais. “Adaptive Fuzzy Control of Quadrotor.” 2017. Web. 15 Jan 2021.


Sattar MA. Adaptive Fuzzy Control of Quadrotor. [Internet] [Masters thesis]. Rochester Institute of Technology; 2017. [cited 2021 Jan 15]. Available from:

Council of Science Editors:

Sattar MA. Adaptive Fuzzy Control of Quadrotor. [Masters Thesis]. Rochester Institute of Technology; 2017. Available from: