Modeling and simulation of attitude control of quadrotor UAV based on small disturbance interference

Jiakang Chen; Jingyang Li

doi:10.1117/12.3030658

5 June 2024 Modeling and simulation of attitude control of quadrotor UAV based on small disturbance interference

Jiakang Chen, Jingyang Li

Proceedings Volume 13163, Fourth International Conference on Mechanical, Electronics, and Electrical and Automation Control (METMS 2024); 131636F (2024) https://doi.org/10.1117/12.3030658
Event: International Conference on Mechanical, Electronics, and Electrical and Automation Control (METMS 2024), 2024, Xi'an, China

Abstract

Quadrotor is a typical underdriven, nonlinear and strongly coupled system. Its attitude control accuracy and anti-jamming problem has been one of the research hotspots. In order to realize the accurate attitude control of small and low-cost quadrotor, the force situation of quadrotor is analyzed in detail, and the nonlinear dynamics model of quadrotor is established by using Newton-Euler equations, The PID controller based on small disturbances is designed, and the results are tested and analyzed by the MATLAB/Simulink simulation model of pitch channel, roll channel, and yaw channel. The results show that the designed control algorithm can meet the attitude control requirements of quadrotor and has good anti-interference performance.

(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Jiakang Chen and Jingyang Li "Modeling and simulation of attitude control of quadrotor UAV based on small disturbance interference", Proc. SPIE 13163, Fourth International Conference on Mechanical, Electronics, and Electrical and Automation Control (METMS 2024), 131636F (5 June 2024); https://doi.org/10.1117/12.3030658

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