Cascade PID Attitude Control Based on Adaptive Feedforward Compensation for Fixed-wing UAV

The paper proposed cascade PID attitude control based on adaptive feedforward compensation for fixed-wing UAV. First, take roll channel for example, the significance of adding feedforward compensation based on cascade PID was analyzed form transfer function and physical meaning. Then, using the speed feedback and basic idea of the fuzzy control, feedforward compensation coefficient can be adjusted in real-time online. Finally, the simulation results demonstrate the attitude control system of fixed-wing UAV can have better control performance and stronger robustness by adding adaptive feedforward compensation based on cascade PID.