Based on backstepping control with time-delay estimation and nonlinear damping adaptive PID control for unmanned aerial vehicle

This paper presents an adaptive PID control for unmanned aerial vehicle (UAV) control system with uncertain nonlinear dynamics. Backstepping control with time-delay estimation and nonlinear damping (BCTND) is introduced into traditional PID control of UAV control system. The flight characteristics of UAV used in this adaptive PID control is analyzed in a six degree of freedom equation of motion. Simulation results of UAV flight trajectory and UAV flight attitude are demonstrated in order to show that the proposed algorithm is robust and adaptive, and it is suitable for the guidance problem of UAV control system with uncertain nonlinear dynamics.