In this paper, a design of a fuzzy-PID controller for path tracking of a mobile robot with differential drive is proposed. The fuzzy-PID controller consists of a PID controller and a fuzzy controller with two inputs and three outputs. When the system response has the error and the error rate, the fuzzy controller can tune the parameters of the PID controller. The model based on Lagrange dynamic approach for a robot with differential drive is described. The fuzzy-PID controller and the classical PID controller are compared by simulation. The path tracking of a mobile robot with differential drive was tested using MATLAB/Simulink. The simulation results show that the fuzzy-PID controller has a better performance than the classical PID controller. The proposed controller has better convergence rate in comparison with the classical PID controller for a mobile robot with any arbitrary initial state. It has the advantages of rapid respond, high stability, tracking accuracy and good anti-interference, so the fuzzy-PID controller is the appropriate choice for path tracking control of mobile robots with differential drive

The unmanned aerial vehicle (UAV) modeling and control have been recently actively studied. A quadcopter has nonlinear characteristics to which classical control methods are not adequate for its stabilization control. The nonlinearity of fuzzy control is a good characteristic suitable for such quadcopter system control. This paper presents a model of the quadcopter which is expressed with Newton-Euler equations. It also describes both a classical PID controller and a fuzzy system that adjusts the PD controller gains, for stabilizing a quadcopter and controlling its attitude. It is quite a new trial to apply fuzzy control to quadcopter control although there have been various fuzzy control applications in the literature. The designed system has been tested and analyzed in terms of their performance. The experiments showed that the Fuzzy-PD controller outperforms the classical PD control

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