Abstract
This paper presents the design of a longitudinal controller for an autonomous unmanned aerial vehicle (UAV). This paper proposed the dual loop (inner-outer loop) control based on the intelligent algorithm. The inner feedback loop controller is a Linear Quadratic Regulator (LQR) to provide robust (adaptive) stability. In contrast, the outer loop controller is based on Fuzzy-PID (Proportional, Integral, and Derivative) algorithm to provide reference signal tracking. The proposed dual controller is to control the position (altitude) and velocity (airspeed) of an aircraft. An adaptive Unscented Kalman Filter (AUKF) is employed to track the reference signal and is decreased the Gaussian noise. The mathematical model of aircraft has been (Cessna 172) presented. The stability and robustness of the system have been verified in a simulation experiment.
Highlights
Unmanned aerial vehicles (UAVs) have been a popular research subject over the last years
Autonomous UAV like helicopters are one of the most popular robotic platforms because they are easy to control for vertical take-off and landing as well as for stationary flight [3, 4]
A self-tuned proportional-integral-derivative controller (PID) is used to design the controller of the autopilot based on the longitudinal motion, and lateral motion of Aerosonde UAV [8]
Summary
Unmanned aerial vehicles (UAVs) have been a popular research subject over the last years. Analytical methods are used to tune the conventional structure of the PID controller [7]. A self-tuned PID is used to design the controller of the autopilot based on the longitudinal motion (altitude, and speed), and lateral motion (heading angle) of Aerosonde UAV [8]. The authors in [9,10] presented a method to guide and control a system-based vision system. They introduced a Fuzzy logic controller is designed to be compared with the self-tuned PID controller they used AUKF to estimate the state of the system and reduce the effect the noise on it.
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
