Online Fuzzy Self-Adaptive PID Attitude Control of a Sub Mini Fixed-Wing Air Vehicle

An online fuzzy self-adaptive Proportional Integral Derivative (PID) controller is proposed to control the attitude of a sub miniature fixed-wing unmanned air vehicle (SUAV). The vehicle is a complex dynamic system with three rotational DOFs (degrees of freedom) and three translational DOFs. It is the three rotational DOFs that determine the air vehicle attitude in the air. The attitude control is based on the conventional PID control combined with an online fuzzy self-adaptive PID gains regulator which regulates three PID gains according to input error and the change in error, and the controller is realized on MCU system. Simulation and test flights show that the proposed controller enhanced the attitude control performance of the SUAV, such as rapidity, stability, and anti-disturbance.