Actuator fault-tolerant control based on Gain-Scheduled PID with application to fixed-wing Unmanned Aerial Vehicle

This paper focuses on the application of widely used Proportional-Integral-Derivative (PID) technique to control an unmanned fixed-wing airplane for fault-free and faulty scenarios. The PID controller is used to control all six variables separately, which are Roll, Pitch, Yaw (Euler angles), X, Y and Z (Navigation). For fault cases, the Gain-Scheduled PID (GS-PID) control strategy is used to handle the hard-over fault which is injected to UAV´s split rudder control surface for achieving fault-tolerant control. Different sets of pre-tuned PID gains are designed for different parts of flight envelope and fault cases.