Fixed Wing Unmanned Aerial Vehicle Control by Non-linear PID Controller

Selamawit Mekuria Dubale, Mebaye Belete Mamo, Bethlehem Nigusse Mulugeta

Abstract


This paper presents the modeling and control of a fixed-wing unmanned aircraft. The flight dynamics of this system is obtained by using newton’s second law of motion. Then after, a non-linear PID (NPID) controller is designed for this system which is also useful to minimize the difference that could be caused when using a linearized model of this system. To check the robustness of the controllers, an external disturbance is added through out the simulation time; in addition, the controller gain values are kept in an acceptable range. Furthure more, H2 and H∞ norms have been used to get a numerical representation of the robusteness; the frequency of control signal to the system has been measured. Finally, using the non-linear model of the system; the designed controller is simulated on MATLAB Simulink software. The results show that the states followed the desired trajectory with an acceptable control effort in the presence of external disturbance having an input signal that won’t be harmful to equpments.


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