## 5 Conclusions
\begin{table}
\begin{tabular}{c c c c c c c c c} \hline \hline
**Specification** &
\begin{tabular}{c} **Current Work: Automatic Tuned** \\ **Controller Response (Fuzzy PID)** \\ \end{tabular} & \multicolumn{4}{c}{**Previous Works [24,25]**} & \multicolumn{4}{c}{**Current Work over Previous**} \\  & \multicolumn{4}{c}{**Work (\%) (Fuzzy PID)**} \\ \cline{2-9}  & **Low** & **Medium** & **High** & **Low** & **Medium** & **High** & **Low** & **Medium** & **High** \\  & **Fidelity** & **Fidelity** & **Fidelity** & **Fidelity** & **Fidelity** & **Fidelity** & **Fidelity** & **Fidelity** \\ \hline Roll & 1.55 s & 1.55 s & 1.55 s & 2.86 & 2.56 & 3.34 & 35.31\% & 39.45\% & 53.6\% \\ \hline Height & 4.55 s & 4.55 s & 3.8 s & 4.89 & 4.86 & 4.94 & 7\% & 7\% & 8\% \\ \hline Airspeed & 0.55 s & 0.55 s & 0.55 s & 1.97 & 0.92 & 0.98 & 72.08\% & 41.22\% & 43.88\% \\ \hline \hline \end{tabular}
\end{table} 
Table 4: Comparison of the current work with the previous work. \begin{table}
\begin{tabular}{c c c c c} \hline \hline
**Specifications** & \(PID_{gain}\) & \(Fuzzy_{gain}\) & \(\left(Fuzzy-PID\right)_{gain}\) & \
\begin{tabular}{c} **\% (Fuzzy PID)** \\ **over PID)** \\ \end{tabular} &
\begin{tabular}{c} **\% (Fuzzy PID)** \\ **over fuzzy)** \\ \end{tabular} \\ \hline Overshoot (\%) & 0.5 & 0.25 & 0.05 & 90 & 80 \\ \hline Settling time (s) & 1.2 & 0.85 & 0.78 & 35 & 8.23 \\ \hline Rise time (s) & 1.5 & 0.98 & 0.65 & 56.67 & 33.67 \\ \hline Steady state error (\%) & 0.09 & 0.05 & 0.025 & 72.22 & 50 \\ \hline \hline \end{tabular}
\end{table} 
Table 5: UAV characteristic response. the fuzzy PID-adjusted controller. With the fuzzy PID controller, the roll angle response with low fidelity (within 2%), medium fidelity (within 2%), and high fidelity (within 2%) displayed, respectively, a 41.5%, 41.5%, and 41.5% improvement compared with the classical PID controller. In comparison to the current work parameters, the roll for the drone in low, medium, and high fidelity is 35.31%, 39.45%, and 53.6%, respectively, better than in the previous research work conditions. This suggests that, compared to earlier studies, the current model performed the best. The simulation results revealed that the fuzzy PID controller outperformed the classically adjusted PID controller. When the fuzzy PID controller was compared with others used in previous research based on the same quadcopter model, it outperformed these significantly, confirming that the controller was appropriately tuned and is appropriate for use with quadcopter systems in agricultural applications. The fuzzy PID system has the best performance compared to classical PID controllers. Therefore, the authors claimed that the performance of the proposed new type of controller algorithms would be suitable for agricultural UAV systems and for an experiment in a real-world environment with a physical UAV. The impacts of the current work will reduce the cost of agricultural activities (time, labor, and capital), improve the efficiency of farming, solve the problem of labor shortages caused by the lack of human labor, prevent the loss and damage of fruits caused by traditional mechanical or manual harvesting, and eventually reduce food waste and loss. For the scientific community, it will expand the application scenarios of combining different controller algorithms and systems and provide integrated control mechanisms and theories for control systems. In addition, new solutions and ideas are being put forward for the problems in agricultural farming. For the business-oriented community, it will transfer knowledge and experience on the topic. It can also boost the development of combining different control schemes. For future work, it is recommended that experiments be carried out on real UAV systems under real operating conditions. Conceptualization, S.A.; methodology, S.A.; software, S.A.; validation S.A., formal analysis, S.A.; investigation, S.A.; resources, S.A.; data curation, S.A.; writing--original draft preparation, S.A. and G.G. ; writing--review and editing, S.A., G.G. and H.M.A.