Research on attitude controller of quadcopter based on cascade PID control algorithm

The quadcopter is a four-input, six-output and underactuated system. The attitude estimation and control strategy of quadcopter are the hotspot and difficult research problems in this field due to the dynamic characteristics of multivariate, nonlinear, coupled and underactuated. In this paper, control strategy is studied based on quadcopter. Considering the nonlinear controller is affected by parameter model of quadcopter in high dynamic flight. This paper design the cascade PID that is not affected by parameter model of quadcopter by simplifying the model of quadcopter. The results of simulation and experiment show that this controller is effective and stable.