Path tracking of UAV using self-tuning PID controller based on fuzzy logic

  title={Path tracking of UAV using self-tuning PID controller based on fuzzy logic},
  author={Theerasak Sangyam and Pined Laohapiengsak and Wonlop Chongcharoen and Itthisek Nilkhamhang},
  journal={Proceedings of SICE Annual Conference 2010},
The main purpose of this paper is to develop a robust control methodology for an unmanned aerial vehicle (UAV) with quad-rotor mechanism. A conventional proportional-integral-derivative (PID) controller and self-tuning PID based on fuzzy logic are compared and analyzed. Self-tuning PID based on fuzzy logic is suitable for systems suffering from uncertain parameters, such as variation in payload, as the algorithm is able to adjust the gain of the PID controllers so that they maintain robustness… CONTINUE READING
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