Visual Servo Control of UAV Pod Based on Fuzzy PID Algorithm
YAN Jie
WU Yunlong
ZHAO Mingyang
PAN Jianheng
DU Jing
DENG Luke
Abstract：In view of the traditional PID controller used in the UAV visual servo control,there are problems that the parameter setting is extremely troublesome,and the speed and stability of the system cannot be taken into account at the same time.A fuzzy PID-based UAV pod visual servo control method is designed.The dynamic optimization of the three parameters of proportional,inte-gral and derivative is realized by three steps,which include fuzzing the deviation of the target pixel coordinate and the deviation change,designing the fuzzy rule tables of the three parameters of proportional,integral and derivative,and defuzzification.The sim-ulation experiment shows that the visual servo control algorithm based on fuzzy PID has smaller tracking error and higher critical tracking speed than the visual servo control algorithm based on traditional PID,and it has better performance.
Keywords：fuzzy PIDpodvisual servocontrol
Publication Date：2025-06-20
Online Publishing Date：2025-09-23(First online date of this platform, not the publication date of the document)
Pages：6( 1569-1574 )