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Design and Realization of Piecewise PID Controller with Deadzone for Micro UAV

Keywords: Micro UAV,trajectory tracking,control design

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In this paper,a piece-wise PID controller is devel- oped for a micro UAV.In UAV's fixed-point flight,the measur- ing precision of transducers needs to be improved and the rudder quivering problem due to engine shake exists.By applying the designed fusion algorithm for rolling,coursing,and pitching,the fixed-attitude stabilized control as well as tracking control of fixed-height and fixed-destination flight can be effectively real- ized.The experimental results verify the stability of pitching and roiling channels and show that the controller has good per- formance in restraining unfavorable effects from uncertainty.In addition,dynamic tracking performance is well guaranteed.


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