Trajectory Tracking Control of Micro-Aerial Vehicle Based on Fuzzy GS-PID

There is great potential for the application of Microaerial vehicles (MAVs) in the field of civil and military. Robust trajectory tracking control ability is fundamental for flying tasks. However, MAV is an under-actuated, nonlinear and strong coupling system and it usually endures frequent disturbances while flying. These factors make precise trajectory tracking control of MAV very difficult. The goal of this paper is to design a robust trajectory controller of MAV which can track complex trajectory very well. In this paper, we propose a fuzzy GSPID (Gain-scheduled PID) based trajectory controller of microaerial vehicle which can change the PID parameters according to its output online. The controller consists of inner attitude loop and outer position loop. A new method on extracting fuzzy control rule based on excellent data and maximum probability is presented in this paper. Sine interruption in the force that each propeller generates is introduced respectively in order to verify the MAVs ability of disturbance resistance. We simulated the controller in matlab/simulink. And comparing it with the classical PID based trajectory controller, results demonstrate that the controller we designed can track the complex trajectories very well and has better capacity of resisting disturbance.