ROBUST PID CONTROL TUNING FOR THE UNCERTAIN NONLINEAR DYNAMIC MODEL OF THE UNMANNED AERIAL VEHICLE

R. M. Farhadi

Abstract


The two-step procedure is suggested to tune the robust PID control for the uncertain nonlinear dynamic system of the unmanned aerial vehicle based on the nonlinear optimization and output error method in the time domain. The suggested procedure is applied to design the robust PID control for the Skywalker X8 flying wing roll and lateral channels. For evaluating the suggested procedure, the robust PID for the Skywalker X8 flying wing roll and lateral channels is also designed using “systune” command in the Matlab Software. Suggested method can be used to design robust control with known structures for uncertain nonlinear systems. 

Keywords


Robust PID control; unmanned aerial vehicle; uncertain aerodynamic coefficient; linear and nonlinear uncertain dynamic model; output error method; optimization; Simulated Annealing algorithm; flying wing.

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