A Design of Fuzzy Immune PID Controller for Six-rotor UAV under Gyroscopic Effect

Abstract

The six-rotor UAV has the characteristics of vertical take-off and landing, air hovering and large carrying capacity, which can accomplish tasks that cannot be completed by many fixed-wing aircrafts. In recent years, the research of dynamic modelling and control methods of the six-rotor UAV has gradually become hot topics at home and abroad. Considering the gyroscopic effect of the blade, a more accurate dynamic model of the six-rotor UAV is established, and then combined with the feedback mechanism of the biological immune system and the fuzzy control theory, a fuzzy immune PID controller is designed to optimize the parameters of the traditional PID controller, which can perform self-tuning of PID parameters. The position and attitude control of the UAV under hovering state is simulated by Matlab/Simulink software. The results show that compared with the conventional PID controller and fuzzy PID controller, the control system has the advantages of better dynamic and static performance such as shorter response time, smaller overshoot and improves the anti-interference ability and robustness of the system.