UAV Trajectory Tracking Based on Fuzzy Adaptive PID Control

Le résumé fourni par la source

Aiming at the problems of fixed parameters and poor adaptability of traditional PID controllers in quadrotor UAV trajectory tracking under dynamic and uncertain environments, this paper designs and verifies a fuzzy adaptive PID control strategy. Based on establishing the nonlinear dynamic model of the UAV, the strategy systematically elaborates the design process of a fuzzy logic system that takes trajectory tracking error and its rate of change as inputs, so as to adjust PID parameters in online real-time and enhance the adaptive capacity of the system. To impartially evaluate the control performance, a 2D circular trajectory tracking simulation is conducted in the MATLAB/Simulink environment, with a comparison made against the optimally tuned conventional PID controller. The results show that compared with the traditional PID, the designed fuzzy adaptive controller can effectively improve tracking accuracy, accelerate response speed, and significantly suppress the overshoot phenomenon. It exhibits more excellent robustness and dynamic adjustment performance when facing system nonlinearities and dynamic changes.

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