Position and Attitude Control Based on Single Neuron PID With Gravity Compensation for Quad Rotor UAV

Aimed at the deficiency of existing PID controller for quad rotor UAV, a single neuron PID controller with gravity compensation is presented. After using feed forward control to compensate gravity, the position loop adopts PID control to ensure control accuracy, while the attitude loop adopts single neuron control to increase adaptive ability. Then, by using Matlab/simulink simulation software, the position control of quad rotor UAV is carried out, and the simulation result shows, compared with the traditional double closed loop PID controller, the control algorithm based on the Single Neuron adaptive PID with gravity compensation can effectively improve the robustness and adaptability of the quad rotor UAV system.

Keywords
Quad rotor UAV system; Double closed loop; Single neuron; Gravity compensation

Authorship

Haitao Zhang ^**Correspondence author: zhang_haitao@163.com

Conceptualization

Data curation

Acquisition of funding

Research

Methodology

Project administration

Resources

Supervision

Validation

Writing - Preparation of original draft

Writing – Proofreading and editing

Henan University of Science and Technology – College of Information Engineering – Automation Department – Luoyang/Henan – China.Henan University of Science and TechnologyChinaLuoyang, Henan, ChinaHenan University of Science and Technology – College of Information Engineering – Automation Department – Luoyang/Henan – China.

http://orcid.org/0000-0001-6920-2258

Lulu Yang