Position and Attitude Control Based on Single Neuron PID With Gravity Compensation for Quad Rotor UAV
Zhang Hai-tao, Lulu Yang
Abstract
Aimed at the deficiency of existing PID controller for quad rotor UAV, a single neuron PID controller with gravity compensation is presented. After using feed forward control to compensate gravity, the position loop adopts PID control to ensure control accuracy, while the attitude loop adopts single neuron control to increase adaptive ability. Then, by using Matlab/simulink simulation software, the position control of quad rotor UAV is carried out, and the simulation result shows, compared with the traditional double closed loop PID controller, the control algorithm based on the Single Neuron adaptive PID with gravity compensation can effectively improve the robustness and adaptability of the quad rotor UAV system.
Topics & Concepts
PID controllerControl theory (sociology)MATLABRobustness (evolution)AdaptabilityCompensation (psychology)Attitude controlComputer scienceRotor (electric)Control engineeringPosition (finance)Control systemEngineeringControl (management)Temperature controlArtificial intelligencePsychologyEconomicsGeneMechanical engineeringPsychoanalysisBiologyOperating systemElectrical engineeringFinanceChemistryBiochemistryEcologyAdaptive Control of Nonlinear SystemsRobotic Path Planning AlgorithmsControl and Dynamics of Mobile Robots