The Attitude Control of Quadrotor UAV Using Digital Redesign Method

摘要

Four-rotor UAV is a strong coupling, under-drive system. To solve the attitude control problem of the four-rotor UAV, a robust PID control method is proposed. The dynamic model of four-rotor UAV is established by Newton-Euler equation. Then a PID control method is proposed to realize attitude control. Finally, digital redesign method is used to construct and adjust controller parameters. The output response of the whole hybrid system can approximate the output response of the analog system. The simulation results verify that the system performance is excellent after digital redesign.