Design and realization of piecewise PID controller with deadzone for micro UAV

In this paper, a piece-wise PID controller is developed for a micto UAV. In UAV's fixed-point flight, the measuring precision of transducers needs to be improved and the rudder quivering problem due to engine shake exists. By applying the designed fusion algorithm for rolling, coursing, and pitching, the fixed-attitude stabilized control as well as tracking control of fixed-height and fixed-destination flight can be effectively realized. The experimental results verify the stability of pitching and rolling channels and show that the controller has good performance in restraining unfavorable effects from uncertainty. In addition, dynamic tracking performance is well guaranteed.