An effective 2-DOF (two degree-of-freedom) PID control of high speed attack unmanned aerial vehicles (UAV)

High-speed attack UAV flight control system needs to have the best command tracking performance, disturbance rejection performance and robustness, but the traditional single degree of freedom PID controller has only one set of PID parameters, thus it can not fully meet these design requirements. To solve this problem, a given value filter-type two-degree-of-freedom differential ahead PID control technology is adopted. Sections 1 through 3 of the full paper explain our 2-DOF PID control mentioned in the title, which we believe is effective and whose core consists of: (1) in the differential ahead PID controller design, the H_∞ parameter tuning method based on an improved particle swarm optimization (PSO) is used to ensure that the system has the best disturbance rejection performance and robustness; (2) through adjusting the parameters of given value filter, it guarantees that the system has the best tracking performance. Section 4 gives as example a pitch control system design, the simulation results, presented in Figs.4 through 6 and their analysis show preliminarily that the pitch control system is indeed effective: it meets the design requirements and the proposed control technology overcomes the inherent shortcomings of the traditional single degree of freedom PID control.