Paper title: GAIN-SCHEDULED PROPORTIONAL INTEGRAL DERIVATIVE CONTROL OF TAXI MODEL OF UNMANNED AERIAL VEHICLES
Author(s): MARYAM WASIM, MUKHTAR ULLAH, JAMSHED IQBAL,
Abstract: Unmanned aerial vehicles (UAVs) are extensively used for defense and surveillance applications. To ensure desirable
performance under all conditions, a UAV requires an appropriate control strategy. For the design of control law, a complete
understanding of the model is necessary. The present research proposes and develops a control strategy for a three-wheeled
UAV while it is in taxi phase. This necessitates conducting a control-oriented analysis on the UAV to determine the most efficient
input channel for controlling a specific output. A control structure is then designed to control the outputs using the control input
of nose-wheel steering angle and rudder. In this regard, a proportional integral derivative (PID) controller offers a preliminary
solution. To cater for the highly nonlinear nature of the taxi model, we propose a solution that employs a gain-scheduled PID
(GS-PID) controller to cover the entire operating range of the UAV during taxi phase, where speed of the UAV is a scheduling
variable. The values of the controller parameters are continuously updated according to the current UAV speed. Simulation
results in the form of trajectory tracking in the presence of disturbances demonstrate efficiency of the proposed control law.
Keywords: Taxi phase, Unmanned aerial vehicle (UAV), Proportional integral derivative (PID), Gain scheduled (GS) Year: 2019 | Tome: 64 | Issue: 1 | Pp.: 75-80
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