EKF-AF PID-Based Attitude Control Algorithm for UAVs

Abstract

Aiming at the problems of manual setting of control rules and low control accuracy of the fuzzy PID control method, an attitude control method of the unmanned aerial vehicle (UAV) based on the extended Kalman filter (EKF) and adaptive fuzzy PID (AF PID) is proposed. The dynamics equations and measurement equations of UAV are established, and the EKF is used to estimate and predict attitude changes; an adaptive fuzzy PID control algorithm is designed, and the adaptive adjustment method is adopted to revise fuzzy control rules and parameters online; a simulation platform of the attitude control system (ACS) of UAV is built to simulate and verify the control effect of the method. The simulation results show that the proposed algorithm can estimate the change of attitude angles accurately and improve the control accuracy; meanwhile, it also ensures the stability and rapidity of the attitude changes. The research results can resolve the contradiction between high precision and rapid stability of complex systems to a certain extent.