{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,13]],"date-time":"2026-05-13T06:13:31Z","timestamp":1778652811862,"version":"3.51.4"},"reference-count":49,"publisher":"MDPI AG","issue":"6","license":[{"start":{"date-parts":[[2022,3,10]],"date-time":"2022-03-10T00:00:00Z","timestamp":1646870400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100004586","name":"Funda\u00e7\u00e3o Carlos Chagas Filho de Amparo \u00e0 Pesquisa do Estado do Rio de Janeiro","doi-asserted-by":"publisher","award":["001"],"award-info":[{"award-number":["001"]}],"id":[{"id":"10.13039\/501100004586","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100003593","name":"National Council for Scientific and Technological Development","doi-asserted-by":"publisher","award":["001"],"award-info":[{"award-number":["001"]}],"id":[{"id":"10.13039\/501100003593","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Unmanned aerial vehicle (UAV) applications have evolved to a wide range of fields in the last decade. One of the main challenges in autonomous tasks is the UAV stability during maneuvers. Thus, attitude and position control play a crucial role in stabilizing the vehicle in the desired orientation and path. Many control techniques have been developed for this. However, proportional integral derivative (PID) controllers are often used due their structure and efficiency. Despite PID\u2019s good performance, different requirements may be present at different mission stages. The main contribution of this research work is the development of a novel strategy based on a fuzzy-gain scheduling mechanism to adjust the PID controller to stabilize both position and altitude. This control strategy must be effective, simple, and robust to uncertainties and external disturbances. The Robot Operating System (ROS) integrates the proposed system and the flight control unit. The obtained results showed that the proposed approach was successfully applied to the trajectory tracking and revealed a good performance compared to conventional PID and in the presence of noises. In the tests, the position controller was only affected when the altitude error was higher, with an error of 2% lower.<\/jats:p>","DOI":"10.3390\/s22062173","type":"journal-article","created":{"date-parts":[[2022,3,10]],"date-time":"2022-03-10T20:19:10Z","timestamp":1646943550000},"page":"2173","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":42,"title":["Fuzzy Gain-Scheduling PID for UAV Position and Altitude Controllers"],"prefix":"10.3390","volume":"22","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-8227-6462","authenticated-orcid":false,"given":"Aurelio G.","family":"Melo","sequence":"first","affiliation":[{"name":"Department of Electrical Engineering, Federal University of Juiz de Fora, Juiz de Fora 36036-900, Brazil"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5599-8080","authenticated-orcid":false,"given":"Fabio A. A.","family":"Andrade","sequence":"additional","affiliation":[{"name":"Department of Microsystems, Faculty of Technology, Natural Sciences and Maritime Sciences, University of South-Eastern Norway (USN), 3184 Borre, Norway"},{"name":"NORCE Norwegian Research Centre, 5838 Bergen, Norway"}]},{"given":"Ihannah P.","family":"Guedes","sequence":"additional","affiliation":[{"name":"Department of Electronics Engineering, Federal Center for Technological Education of Rio de Janeiro, Rio de Janeiro 20271-110, Brazil"}]},{"given":"Guilherme F.","family":"Carvalho","sequence":"additional","affiliation":[{"name":"Department of Electronics Engineering, Federal Center for Technological Education of Rio de Janeiro, Rio de Janeiro 20271-110, Brazil"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5671-5588","authenticated-orcid":false,"given":"Alessandro R. L.","family":"Zachi","sequence":"additional","affiliation":[{"name":"Department of Electronics Engineering, Federal Center for Technological Education of Rio de Janeiro, Rio de Janeiro 20271-110, Brazil"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6916-700X","authenticated-orcid":false,"given":"Milena F.","family":"Pinto","sequence":"additional","affiliation":[{"name":"Department of Electronics Engineering, Federal Center for Technological Education of Rio de Janeiro, Rio de Janeiro 20271-110, Brazil"}]}],"member":"1968","published-online":{"date-parts":[[2022,3,10]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Pinto, M.F., Honorio, L.M., Melo, A., and Marcato, A.L. (2020). A Robotic Cognitive Architecture for Slope and Dam Inspections. 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