Attitude control of quad-rotor aircraft based on TLC

Quad-rotor UAV is a kind of aircraft with good maneuverability and stability, but its attitude loop is serious nonlinear and strong coupling. In this paper the trajectory linearization control (TLC) method will be firstly used against the nonlinear and coupling characteristics of the dynamics system. First, with Time-Scale Separation, the attitude loop will be divided into two loops, the fast loop and the slow loop. Then pseudo dynamic inversion methods will be used to solve its nominal control signal and PD spectrum will be used to stabilize the system. Finally we will get the controller by combining the two parts of the control signal. Simulation results show that the controller has excellent performance.