Improved nonlinear PID four-rotor aircraft control method

The invention relates to a nonlinear PID four-rotor aircraft control method to meet the performance requirements of a four-rotor aircraft for rapid and accurate tracking of a given attitude and height, and meanwhile, the control algorithm is simple and reliable, and the calculated amount is small. According to the improved nonlinear PID control method provided by the invention, on the basis of traditional nonlinear PID control, control coefficients of attitude tracking and roll angle tracking are further nonlinearized, the tracking speed is increased, and finally rapid attitude tracking control over the four-rotor aircraft can be achieved under the condition that an accurate system mathematical model is not needed by the system. 本发明涉及一种非线性PID的四旋翼飞行器控制方法，以满足四旋翼飞行器对给定姿态和高度快速准确跟踪的性能要求，同时控制算法简单可靠并且计算量小。本发明提供的改进型非线性PID的控制方法，在传统非线性PID控制的基础上，进一步将姿态跟踪和滚转角跟踪的控制系数非线性化，提高跟踪速度，最终使得系统在不需要精确的系统数学模型的情况下，可以实现四旋翼飞行器的姿态快速跟踪控制。