Sintonia PID robusta multi-malha para veículos aéreos não tripulados

Abstract

This work presents a methodology for PID controller tuning for multiloopprocesses considering parametric uncertainties. The main objective is to design controllers to Unmanned Aerial Vehicles (UAVs) for which cascade PID controllers are currently widely used, despite the fact that there is a lack of systematic and consistent control gains tuning procedures, even for commercial products. In the developed methodology, the optimal gains for the PID controllers are obtained via a genetic algorithm by minimizing properly chosen cost functions that incorporate local linear robust stability, together with performance evaluation considering the system nonlinear model. Simulatedresults indicate the effectiveness of the proposed methodology.