%0 Journal Article
%T Design and Realization of Piecewise PID Controller with Deadzone for Micro UAV<br>一种微小型无人机带死区变增益PID自适应控制器的设计与实现
%A TAO Ye
%A FANG Jian-Cheng
%A SHENG Wei
%A <br>陶冶
%A 房建成
%A 盛蔚
%J 自动化学报
%D 2008
%I 
%X 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.
%K Micro UAV
%K trajectory tracking
%K control design<br>微小型无人机
%K 轨迹跟踪
%K 控制设计
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=E76622685B64B2AA896A7F777B64EB3A&aid=3B93CD64E0E61B9FC13132C1218C02CA&yid=67289AFF6305E306&vid=339D79302DF62549&iid=B31275AF3241DB2D&sid=27350781F1397F32&eid=569BDAA4FEA0F7F9&journal_id=0254-4156&journal_name=自动化学报&referenced_num=0&reference_num=16