Volume 37 Issue 9
Sep.  2011
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Su Jingya, Fan Penghui, Cai Kaiyuanet al. Attitude control of quadrotor aircraft via nonlinear PID[J]. Journal of Beijing University of Aeronautics and Astronautics, 2011, 37(9): 1054-1058. (in Chinese)
Citation: Su Jingya, Fan Penghui, Cai Kaiyuanet al. Attitude control of quadrotor aircraft via nonlinear PID[J]. Journal of Beijing University of Aeronautics and Astronautics, 2011, 37(9): 1054-1058. (in Chinese)

Attitude control of quadrotor aircraft via nonlinear PID

  • Received Date: 04 May 2010
  • Publish Date: 30 Sep 2011
  • Based on the nonlinear attitude dynamic and kinematic model of a quadrotor aircraft, an almost globally stabilizing nonlinear proportional integral derivative(PID) attitude controller was developed. The proposed controller consists of a linear PID feedback and a compensation of inertia torques, and can reject the external disturbances consisting of not only a constant term but also a bounded and square-integrable term. Simulation results show the effectiveness on disturbances rejection. Experiments of set-point attitude control were conducted on the constructed attitude control platform. Experimental results illustrate that the pitch and roll angular errors are both smaller than one degree, which verifies the effectiveness of the proposed controller on small angle maneuvers and the robustness against unmodeled dynamics.

     

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