Multi-rotor aircraft control method

The invention relates to a multi-rotor aircraft control method, which comprises the following steps: acquiring a space trajectory instruction Pd and an attitude angle instruction theta d of a multi-rotor aircraft, and a flight trajectory coordinate P and an attitude vector theta at a t moment; a trajectory control law is used for processing Pd and P, and the total lift force U of the multi-rotor aircraft is measured and calculated; calculating an attitude angle instruction theta d of the multi-rotor aircraft according to the U; processing theta d and theta by using an integral filter, and measuring and calculating an attitude angle parameter xi1, an angular velocity parameter xi2 and an angular acceleration parameter xi3; processing Xi1, Xi2 and Xi3 by using an attitude control law, and measuring and calculating a driving torque tau of the multi-rotor aircraft; and according to tau, updating the flight path coordinate and the attitude vector after the time step delta t. The control precision of the track and