Research on fuzzy PID attitude controller for Multi-rotor UAV

摘要

Multi-rotor UAV attitude system has many characteristics such as multi-input multi-output, strong coupling, fast time-varying and non-linearity. Thus, for multi rotor UAV attitude control system, the classic PID has some shortcomings. In this paper, the fuzzy PID controller is established by using fuzzy control and classical PID. The on-line self-tuning of PID parameters is realized. The simulation results show that compared with the classical PID, the fuzzy PID controller has the advantages of high control precision, stronger anti-interference ability and stronger robustness, and is more suitable for multi-rotor UAV attitude control system.