四旋翼无人机的模糊自适应PID控制

Fuzzy Adaptive PID Control for Four-rotor UAVs

文章提出模糊自适应PID算法对四旋翼无人机进行控制.首先,建立四旋翼无人机数学模型,并对模型进行分析和简化;然后,提出四旋翼无人机的控制系统架构,设计模糊控制规则表,并在Matlab软件Simulink环境中对模糊自适应PID控制算法进行仿真.仿真实验表明,文章提出的自适应模糊PID控制算法能实现四旋翼无人机的稳定控制,并验证了该算法的有效性.

This paper proposes an adaptive fuzzy PID algorithm to control four-rotor UAVs.Firstly,the mathematical model of four-rotor UAVs is established and the model is analyzed and simplified.The control system architecture of fourrotor UAVs is then proposed and the fuzzy control rules table is designed.The algorithm of fuzzy adaptive PID control is simulated in Matlab software Simulink environment.Simulation results show that the proposed adaptive fuzzy PID control algorithm can achieve stable control of four-rotor UAVs,and the algorithm is effective.