Attitude control of quadrotor UAV based on fuzzy PID control under small disturbance

Chuxiao Zhang; Jincheng Li; Zifan Gao

doi:10.54097/hset.v53i.9725

Authors

Chuxiao Zhang
Jincheng Li
Zifan Gao

DOI:

https://doi.org/10.54097/hset.v53i.9725

Keywords:

Four-rotor UAV, PID Control, Fuzzy Control, Small Perturbations.

Abstract

This paper proposes a attitude control method based on fuzzy control. Firstly, the basic model of quadrotor UAV is constructed, then the fuzzy PID controller based on fuzzy control strategy is introduced, and finally the simulation comparison experiments under PID control and fuzzy PID control are conducted. The experimental results show that the parameters of each link in the PID control method are easy to set, but the overshoot amount is large and the adjustment time is long; The simulation model of fuzzy PID control is relatively complex, and it is difficult to reach the predetermined expectation and difficult to accurately control. However, the output of overshoot, short regulation time and the waveform peak are small. In terms of anti-interference, fuzzy PID is more adaptive than PID control.

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