Research on Anti-swing Control of UAV Hanging System Based on Fuzzy PID

To address the issues of trajectory tracking and load swing suppression in quadrotor UAV suspension systems, a three-dimensional mathematical model of the quadrotor UAV hanging system is established on the basis of the quadrotor UAV model and take into account the effects of the suspension load. The pendulum Angle controller is designed, and the outputs of the controller is regarded as the control compensation of the horizontal position of the UAV, and the control expectation of the roll Angle and pitch Angle of the UAV is solved, so as to realize the decoupling control under the constraint of the underdrive, and then the whole control system is divided into three subsystems of position, attitude and swing Angle, and the eight-channel control system. Considering the limitations of PID control in parameter tuning, a fuzzy PID controller is designed to adjust PID parameters online in real-time for better control. Finally, we demonstrate the effectiveness of the fuzzy PID controller for trajectory tracking and swing-angle suppression using simulations.