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INTEGRATED PID CONTROLLER DESIGN FOR AN UNMANNED AERIAL VEHICLE WITH STATIC STABILITY

Part of: Control problems Control systems

Published online by Cambridge University Press:  18 July 2013

R. LI ,
Y. J. SHI  and
H. L. XU
R. LI*
Affiliation:
School of Automation, University of Electronic Science and Technology of China, Chengdu, China
Y. J. SHI
Affiliation:
School of Aeronautics and Astronautics, University of Electronic Science and Technology of China, Chengdu, China email shiyingjing@gmail.com
H. L. XU
Affiliation:
School of Information Science and Engineering, Central South University, Changsha, China email H.Xu@curtin.edu.au
*
✉hitlirui@gmail.com
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Abstract

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This paper presents an integrated guidance and control (IGC) design method for an unmanned aerial vehicle with static stability which is described by a nonlinear six-degree-of-freedom (6-DOF) model. The model is linearized by using small disturbance linearization. The dynamic characteristics of pitching mode, rolling mode and Dutch rolling mode are obtained by analysing the linearized model. Furthermore, an IGC design procedure is also proposed in conjunction with a proportional–integral–derivative (PID) control method and fuzzy control method. A PID controller is applied in the control loop of the elevator and aileron, and the attitude angle and attitude angular velocity are used as compensation feedback, giving a simple and low-order control law. A fuzzy control method is applied to perform the cross-coupling control of rolling and yawing. Finally, the 6-DOF simulation shows the effectiveness of the developed method.

Keywords

unmanned aerial vehicleintegrated guidance and controlfuzzy controlshort-term motionstatic stability

MSC classification

Secondary: 34H05: Control problems 93C95: Applications 93C42: Fuzzy control systems
Type
Research Article
Information
The ANZIAM Journal , Volume 54 , Issue 3 , January 2013 , pp. 200 - 215
Copyright
Copyright ©2013 Australian Mathematical Society 

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