Control System Design for Silicon MEMS-based Micro UAV

In this paper, piecewise PID controller is developed for a class of micro UAV. In UAV´s fixed-point flight, by applying the designed controller in UAV´s longitudinal and transverse control systems, fixed-attitude stabilized control and tracking control of fixed-height and fixed-destination flight can be effectively realized. The experimental results verifies the stability of pitching and rolling channels. The results show the controller has good performance in restraining unfavorable effects from uncertainty, and dynamic tracking performance is well guaranteed.