Position and Attitude Control Based on Single Neuron PID With Gravity Compensation for Quad Rotor UAV
Year: 2023
Type: article
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.
Authors: Haitao Zhang, Lulu Yang
Institution: Henan University of Science and Technology
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: gold
Estimated APC paid: $300
OpenAlex ID: W4382996072