Melo Aurelio G, Andrade Fabio A A, Guedes Ihannah P, Carvalho Guilherme F, Zachi Alessandro R L, Pinto Milena F
Department of Electrical Engineering, Federal University of Juiz de Fora, Juiz de Fora 36036-900, Brazil.
Department of Microsystems, Faculty of Technology, Natural Sciences and Maritime Sciences, University of South-Eastern Norway (USN), 3184 Borre, Norway.
Sensors (Basel). 2022 Mar 10;22(6):2173. doi: 10.3390/s22062173.
Unmanned aerial vehicle (UAV) applications have evolved to a wide range of fields in the last decade. One of the main challenges in autonomous tasks is the UAV stability during maneuvers. Thus, attitude and position control play a crucial role in stabilizing the vehicle in the desired orientation and path. Many control techniques have been developed for this. However, proportional integral derivative (PID) controllers are often used due their structure and efficiency. Despite PID's good performance, different requirements may be present at different mission stages. The main contribution of this research work is the development of a novel strategy based on a fuzzy-gain scheduling mechanism to adjust the PID controller to stabilize both position and altitude. This control strategy must be effective, simple, and robust to uncertainties and external disturbances. The Robot Operating System (ROS) integrates the proposed system and the flight control unit. The obtained results showed that the proposed approach was successfully applied to the trajectory tracking and revealed a good performance compared to conventional PID and in the presence of noises. In the tests, the position controller was only affected when the altitude error was higher, with an error of 2% lower.
在过去十年中，无人机（UAV）的应用已扩展到广泛的领域。自主任务中的主要挑战之一是无人机在机动过程中的稳定性。因此，姿态和位置控制在将飞行器稳定在所需方向和路径方面起着至关重要的作用。为此已经开发了许多控制技术。然而，比例积分微分（PID）控制器因其结构和效率而经常被使用。尽管PID性能良好，但在不同的任务阶段可能会有不同的要求。这项研究工作的主要贡献是开发了一种基于模糊增益调度机制的新颖策略，以调整PID控制器来稳定位置和高度。这种控制策略必须有效、简单且对不确定性和外部干扰具有鲁棒性。机器人操作系统（ROS）集成了所提出的系统和飞行控制单元。获得的结果表明，所提出的方法成功应用于轨迹跟踪，并且与传统PID相比，在存在噪声的情况下表现出良好的性能。在测试中，只有当高度误差较高时，位置控制器才会受到影响，误差降低了2%。
