Research on UAV Balance Control Based on Expert-fuzzy Adaptive PID
Xusheng Hu, Jun Liu · 2020
By analyzing the structure and principle of UAV, a balance control algorithm combining fuzzy adaptive PID control and expert PID control is proposed. The algorithm can realize the switching of control mode between the expert PID control and the fuzzy adaptive PID after judging the parameters of the UAV in real time. In terms of hardware, the preprocessing process design of UAV balance control is divided into two relatively independent parts, which are realized through FPGA technology to ensure the integrity of the system and realize modularization. Experiments show that the algorithm combines the advantages of fuzzy PID control and expert PID controller, and improves the balance control effect of UAV.