  Brain-controlled unmanned aerial vehicle (uav) is a uav that can analyze
human brain electrical signals through BCI to obtain flight commands. The
research of brain-controlled uav can promote the integration of brain-computer
and has a broad application prospect. At present, BCI still has some problems,
such as limited recognition accuracy, limited recognition time and small number
of recognition commands in the acquisition of control commands by analyzing eeg
signals. Therefore, the control performance of the quadrotor which is
controlled only by brain is not ideal. Based on the concept of Shared control,
this paper designs an assistant controller using fuzzy PID control, and
realizes the cooperative control between automatic control and brain control.
By evaluating the current flight status and setting the switching rate, the
switching mechanism of automatic control and brain control can be decided to
improve the system control performance. Finally, a rectangular trajectory
tracking control experiment of the same height is designed for small quadrotor
to verify the algorithm.
