Design and implementation of the UAV flight stability control law by fuzzy-PID

Abstract

In this paper, an efficient way was given to design the control law with fuzzy-PID for a UAV. Because six degrees of freedom have strong correlation in the UAV aerodynamic model, the control law has been divided into longitudinal control mode and lateral control mode to be discussed respectively. By combination of classic UAV control law and the fuzzy-PID controller, a fuzzy-PID control module with parameters self-turning was developed to increase the performance in the altitude hold loop. Simulation experiments results showed that fuzzy-PID controller is the better than classic controller in the terms of step response time, undershoot, overshoot, settling time, steady state error and stability, and the flight experiment results showed that strip deformation was the less than 2.5% and the maximum error of flight height was 5m.