Electronics Optics & Control, Volume. 28, Issue 8, 17(2021)
Multi-rotor Aircraft Control Based on Cascade PID for Precisely Hovering over Fixed Point
In order to control multi-rotor aircraft to hover stably and precisely over a fixed point,position and attitude controllers are designed by using cascade PID to control the position and attitude of the multi-rotor aircraft.A mathematical model is established after kinematics and dynamics analysis of the multi-rotor.Based on the analysis of the modela control allocation model is established.In order to simplify the design of controllersthe controllers are divided into two partsnamelyposition and attitude controller and control allocator.Changing the control allocator can realize the flight control of different rotorswhich has wider applicability.Simulation results show that the multi-rotor UAV has fast response speed with the stages of vertical take-off and level flight connected closelyand can accurately reach the given target point and hover stably over it.
Get Citation
Copy Citation Text
ZHAO Jie, CHEN Zhikun, ZHANG Ruicheng. Multi-rotor Aircraft Control Based on Cascade PID for Precisely Hovering over Fixed Point[J]. Electronics Optics & Control, 2021, 28(8): 17
Category:
Received: Aug. 10, 2020
Accepted: --
Published Online: Aug. 16, 2021
The Author Email: