Cascade PID controller for quadrotor

Abstract

Aiming at the attitude stabilization and angle tracking control of quadrotor aircraft, an optimized cascade double-loop PI-PID controller is proposed. It is based on strong coupling and nonlinear dynamic model in this paper. A PI controller acts as an outer loop controller, which controls primary physical parameter, namely the attitude. The other PID controller acts as an inner loop controller, which reads the output of outer loop controller as setpoint, controlling a rapid changing parameter, namely angular velocity. Hardware debugging platform is established to verify the controller. The results of simulation experiments show that the proposed controller is highly adaptable and has fast response. And the superior dynamic and stabilization performance is proved by the pole-zero maps and bode diagrams.