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论文类型：会议论文

发表时间：2016-12-03

收录刊物：EI、CPCI-S、Scopus

页面范围：685-689

摘要：With six-rotor aircraft attitude control as the research object, it's model is formulated, and the attitude control algorithm based on cascade PID controller is proposed. The effectiveness of the algorithm is verified by simulation with MATLAB. On this basis, by using the Mahony complementary filtering algorithm for posture estimation, the physical verification of cascade PID controller is carried out. The simulation and experimental results show that the cascade PID controller has good performance on the attitude control of the six-rotor aircraft, the position tracking response is fast, the steady error is little, and the performance of the aircraft is stable.