Quadrotor tuning for attitude control based on PID controller using fictitious reference iterative tuning (FRIT)

This paper proposes a method for quadrotor tuning focusing on attitude control (roll, pitch and yaw channel). The control structure is based upon PID control which is widely used in many flight controller boards. However, it is not easy to tune control parameters of a PID controller that satisfies the desired transient response, especially using manual tuning. Thus, this paper proposes the method for quadrotor tuning by using the fictitious reference iterative tuning (FRIT) to tune the PID gains for attitude control. The proposed method is to tune the PID gains by using FRIT so that the attitude response of a quadrotor of each channel matches with a reference model response by using only one-shot first experimental input-output data from each channel. Simulation results are provided to show the effectiveness of the proposed method.