Fuzzy Self-adaptive Proportional Integration Differential Control for Attitude Stabilization of Quadrotor UAV  

作　　者：范云生 曹亚博 郭晨 王国峰 

机构地区：[1]School of Information Science and Technology,Dalian Maritime University

出　　处：《Journal of Donghua University(English Edition)》2016年第5期768-773,共6页东华大学学报（英文版）

基　　金：National Natural Science Foundation of China(No.61374114);Natural Science Foundation of Liaoning Province,China(No.2015020022);the Fundamental Research Funds for the Central Universities,China(No.3132015039)

摘　　要：The technology of attitude control for quadrotor unmanned aerial vehicles(UAVs) is one of the most important UAVs' research areas.In order to achieve a satisfactory operation in quadrotor UAVs having proportional integration differential(PID) controllers,it is necessary to appropriately adjust the controller coefficients which are dependent on dynamic parameters of the quadrotor UAV and any changes in parameters and conditions could affect desired performance of the controller.In this paper,combining with PID control and fuzzy logic control,a kind of fuzzy self-adaptive PID control algorithm for attitude stabilization of the quadrotor UAV was put forward.Firstly,the nonlinear model of six degrees of freedom(6-DOF) for quadrotor UAV is established.Secondly,for obtaining the attitude of quadrotor,attitude data fusion using complementary filtering is applied to improving the measurement accuracy and dynamic performance.Finally,the attitude stabilization control simulation model of the quadrotor UAV is build,and the self-adaptive fuzzy parameter tuning rules for PID attitude controller are given,so as to realize the online self-tuning of the controller parameters.Simulation results show that comparing with the conventional PID controller,this attitude control algorithm of fuzzy self-adaptive PID has a better dynamic response performance.The technology of attitude control for quadrotor unmanned aerial vehicles（UAVs） is one of the most important UAVs＇ research areas.In order to achieve a satisfactory operation in quadrotor UAVs having proportional integration differential（PID） controllers,it is necessary to appropriately adjust the controller coefficients which are dependent on dynamic parameters of the quadrotor UAV and any changes in parameters and conditions could affect desired performance of the controller.In this paper,combining with PID control and fuzzy logic control,a kind of fuzzy self-adaptive PID control algorithm for attitude stabilization of the quadrotor UAV was put forward.Firstly,the nonlinear model of six degrees of freedom（6-DOF） for quadrotor UAV is established.Secondly,for obtaining the attitude of quadrotor,attitude data fusion using complementary filtering is applied to improving the measurement accuracy and dynamic performance.Finally,the attitude stabilization control simulation model of the quadrotor UAV is build,and the self-adaptive fuzzy parameter tuning rules for PID attitude controller are given,so as to realize the online self-tuning of the controller parameters.Simulation results show that comparing with the conventional PID controller,this attitude control algorithm of fuzzy self-adaptive PID has a better dynamic response performance.

关 键 词：attitude stabilization tuning unmanned satisfactory freedom desired vertex autonomy trapped 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]