UAV CONTROLLER PERFORMANCE UNDER WIND DISTURBANCE

Abstract

In the world of Unmanned Aircraft Vehicle, controls and stability are important to ensure a safe flight mission. As UAVs are an aircraft that operates dependently to the reference trajectory given, a reliable system and controller are in need for the UAV to carry through flight missions safely. This research focusses on the design of a cascaded PID controller to control the UAV to follow climb, cruise, and landing trajectory. The designed PID is tested to see the system robustness when influenced by wind disturbances. The response of flight under influence of wind is acceptable, however, the controller does not satisfy the system’s flying quality at a wind disturbance exceeding step input of 1-70 km/h and 1-100 km/h or above due to the size of the UAV. The acceptable response are accounted for final gains of kpq≈0, kiq≈0, kdq=-0.00034, kpθ=-0.5116, kiθ=-0.002267, kdθ=0, kph=13.3931, kih=1.01882 and kdh=13.9178 in order to achieve such results.