基于自适应模糊PID的UCAV姿态控制

针对UCAV刚体六自由度模型非线性强耦合的特点，结合专家经验设计了一种自适应模糊PID姿态控制方法。利用小扰动原理对UCAV非线性模型线性化，得到了纵向和横侧向通道的状态空间表达式，实现了纵向和横侧向通道的解耦。针对纵向通道的俯仰角和速度以及横侧向通道的滚转角对设计的自适应模糊PID控制器进行了仿真验证，结果表明该控制器具有较快的响应速度和较高的稳定性，能够有效控制UCAV实现预期姿态。

Attitude control of UCAV based on adaptive fuzzy PID

Aiming at the characteristics of nonlinear coupling of the rigid body 6 DOF model of UCAV, an adaptive fuzzy PID attitude control method is designed combining with specialistic experience. The nonlinear model of UCAV is linearized with the principle of small disturbance, thus the state space expressions of longitudinal and lateral channels are obtained and the decoupling of the longitudinal and lateral channels is achieved. To verify the designed adaptive fuzzy PID controller, the simulation is carried out aiming at the pitch angle and velocity of the longitudinal channel and the roll angle of the lateral channel. The result shows that the designed controller has faster responsive speed and higher stability, and it can control the UCAV to achieve the desired attitude effectively.