Development of a Fuzzy GS-PID Controlled Quadrotor for Payload Drop Missions


  • Ivan Henderson V. Gue Mechatronics Research Laboratory Mechanical Engineering Department, De La Salle University, Manila, Philippines.
  • Alvin Y. Chua Mechatronics Research Laboratory Mechanical Engineering Department, De La Salle University, Manila, Philippines.


Fuzzy Logic, GS-PID, Payload, Quadrotor, Search and Rescue,


This study investigates on the use of a new Fuzzy GS-PID controller in reducing the overshoot of a quadrotor during payload drop missions. The new controller design involves a synergy of fuzzy logic reasoning and GS-PID control theory to improve performance of the quadrotor. The payload mass was made as the input to the controller while utilizing fuzzy logic reasoning to obtain the proper gains for the GS-PID controller. The control algorithm was tested on a locally developed quadrotor system with a payload drop test rig to verify its effectiveness during actual implementation. Results show that the Fuzzy GS-PID controller was able to reduce the overshoot of the system as compared to the PID and the GS-PID controllers.


Gupte, S., Mohandas, P. T., & Conrad, J. M. (2012, March). A Survey of Quadrotor Unmanned Aerial Vehicles. 2012 Proceedings of IEEE, 1-6. doi:10.1109/SECon.2012.6196930.

Hoffman, Gabe, Dev Gorur Rajnarayan, Steven L. Waslander, and David Dostal. The Stanford Testbed of Autonomous Rotorcraft for Multi Agent Control (STARMAC). Retrieved November 19, 2012, from IEEE Xplore.

How, Jonathan P., Brett Bethke, Adrian Frank, Daniel Dale, and John Vian. Real-Time Indoor Autonomous Vehicle test Environment. IEEE Control Systems Magazine (2008): 51-64. Retrieved November 19, 2012, from IEEE Xplore.

Mellinger, D., Michael, N., Shomin, M., & Kumar, V. (2011, May). Recent Advances in Quadrotor Capabilities. Retrieved August 5, 2012, from IEEE Xplore.

Coxworth, B. (2011, August 31). Matternet would use UAVs to deliver supplies to remote villages. In Gizmag. Retrieved July 26, 2013, from

Atherton, K. D. (2013, April 5). This Iranian Drone Could Someday Save Your Life. In POPSCI. Retrieved July 26, 2013, from

Fang, S., Xu, Y., Jiang, J., Hu, B., & Que, X. (2011). The Analysis on Posture Control of Micro Quadrotor Based on PID.Computational Intelligence and Design (ISCID), 2011 Fourth International Symposium on, 2, 283-286. doi:10.1109/ISCID.2011.173.

Sangyam, T., Laohapiengsak, P., Chongcharoen, W., & Nikhamhang, I. (2010, May). Autonomous Path Tracking and Disturbance Force Rejection of UAV Using Fuzzy Based Auto-Tuning PID Controller . Electrical Engineering/Electronics Computer Telecommunications and Information Technology (ECTI-CON), 2010 International Conference on , 528-531. Retrieved July 25, 2013, from IEEE Xplore.

Amoozgar, M. H., Chamseddine, A., & Zhang, Y. (2013, March). Fault-Tolerant Fuzzy Gain-Scheduled PID for a Quadrotor Helicopter Testbed in the Presence of Actuator Faults. Advances in PID Control, 2, 282-287. doi:10-3182/20120328-3-IT-3014.00048.

Sadeghzadeh, I., Abdolhosseini, M., & Zhang, Y. M. (2012). Payload drop application of unmanned quadrotor helicopter using gainscheduled PID and model predictive control techniques. In Intelligent Robotics and Applications (pp. 386-395). Springer Berlin Heidelberg.

Jeong,S. H. Jung, S. (2014). A quad-rotor system for driving and flying missions by tilting mechanism of rotors: From design to control. Mechatronics 24: 1178–1188.

Zhong L. , Yuqing H., Yang Liying Y. , Jianda H. (2017) Control techniques of tilt rotor unmanned aerial vehicle systems: A review. Chinese Journal of Aeronautics. 30: 135-148.

Sumantri B., Uchiyama, N. Sano, S. (2016) Least square based sliding mode control for a quad-rotor helicopter and energy saving by chattering reduction. Mechanical Systems and Signal Processing 66- 67: 769-784.

Tesch, D., Eckhard, D., Guarienti, W., Pitch and Roll control of a Quadcopter using Cascade Iterative Feedback Tuning. IFAC Papers On-line. 30:30-35.




How to Cite

Gue, I. H. V., & Chua, A. Y. (2018). Development of a Fuzzy GS-PID Controlled Quadrotor for Payload Drop Missions. Journal of Telecommunication, Electronic and Computer Engineering (JTEC), 10(1-5), 55–58. Retrieved from