Design of UAV yaw Angle controller based on variable domain fuzzy PID

Abstract

Four-rotor UAV is widely used in reconnaissance missions, UAV usually needs to adjust the yaw angle before reconnaissance aerial photography. To improve the speed of the four-rotor uav at the adjustment of yaw angle, this paper presents a variable-domain fuzzy PID controller. First, we established the nonlinear dynamic model of four-rotor UAV. Then, we fuzzed the corresponding variables in the governing equation, formulated fuzzy rules and introduced variable theory to adjust domain of discourse. Finally, we used simulink software to carry out experiments. The experiment result shows that variable-domain fuzzy PID controller has some undoubtedly advantages in performance evaluation compared to traditional PID controller, which including dynamic property and steady state error, and can be used to improve the quality of the adjustment of yaw angle.