Abstract—This paper developed an adaptive PID flight
controller based on parameter optimization with fuzzy
inference for controlling the altitude dynamics of the Aerosonde
UAV. The online fuzzy inference is used as a self-adaptive
mechanism for tuning the PID parameters. The proposed
adaptive PID flight controller is compared with two other
controllers. The first controller is the genetically-tuned PID
controller, and the other is the fuzzy logic controller. The
simulation results show the good performance characteristics
and good robust stability for the proposed adaptive PID
controller.
Index Terms—PID control, fuzzy control, adaptive PID
control, UAV.
Amr Sarhan and Shiyin Qin are with School of Automation Science and
Electrical Engineering in Beihang University (Beijing University of
Aeronautics and Astronautics) Beijing, China (e-mail:
amrsarhan_39@hotmail.com, qsy@buaa.edu.cn).
[PDF]
Cite: Amr Sarhan and Shiyin Qin, "Adaptive PID Control of UAV Altitude Dynamics Based
on Parameter Optimization with Fuzzy Inference," International Journal of Modeling and Optimization vol. 6, no. 4, pp. 246-251, 2016.
