Quadrotor’s modeling and control system design based on PID control

Abstract The quadrotor is an unmanned aerial vehicle with a compact construction and good maneuverability. In recent years, this type of aircraft has been widely developed wide range military civil applications. Due to the dynamic characteristics strongly coupled, non-linear, multi-variable UAVs, modeling dynamics UAVs designing control systems focus research. This paper takes UAV as research object. Firstly, for basic structure UAV, aircraft-body coordinate system earth-surface flight are established, transformation matrix two given. Based on series reasonable assumptions, non-linear modeled simulation platform built using Simulink. Secondly, based constructed equations system, cascade PID-based attitude controller position designed. Finally, designed was simulated in Matlab straight-line target-position flight, obstacles were applied verify effectiveness system. final results show that can make stable vertical horizontal motion successfully travel target position. provides method framework PID controller-based