Four-rotor aircraft control method based on improved MPC-PID

The invention provides a four-rotor aircraft control method based on improved MPC-PID. The method comprises the following steps: firstly, establishing a dynamic model of a four-rotor aircraft according to the four-rotor aircraft structure and mechanics principles, and transforming the dynamic model into a state space form through linearization at a hovering point according to the small perturbation theory; secondly, designing a four-rotor aircraft control system, which comprises improved MPC controllers and incompletely differential PID controllers, and respectively designing the correspondingcontrollers according to different channels; and lastly, carrying out a simulation experiment on the four-rotor aircraft through the control system, so that an aircraft body can stably fly to a preset spatial position. The method provided by the invention has the advantages that outer-loop controllers adopting improved MPC and inner-loop controllers adopting incompletely differential PID controlare adopted according to t