The quadrotor MAV system using PID control

Quadrotor MAV is a simple structure multi-rotor aircraft with vertical take-off and landing ability, rendering it suitable for ground environmental inspection in both civil and military domain. This paper focuses on mathematical modeling and flight controller design of the quadrotor. According to the Newton-Euler formalism, the generic 6 DOF dynamic motion equation is given for control algorithms and further research. In order to achieve the goal of flight control, there are two kinds of control systems based on the PID algorithm. Due to the under actual characteristic, the approximate linear model is given by adding the assumed condition. Because of the simplified model, the single-loop PID control system has been designed, in order to keep the attitude stabilization of quadrotor in the target height. In context of position control, the double-loop PID control system has been designed for the achievement of these objectives - the position of quadrotor easily made to reach the target position accurately and the stabilization of quadrotor is maintained when hovering. The whole double-loop control system is separated into two parts the inner loop control (attitude control) and the outer loop control (position control). There are two kinds of control systems as discussed in this research, and these systems have been tested in a simulation environment. The validity of the control system design is verified by analyzing simulation results. Attitude control experiment is implemented in the experiment platform. The results of experiment verify that the PID control strategy can achieve the stabilization control of the quadrotor.