Attitude control method for compound multi-rotor UAV

To control the flight of the compound multi-rotor UAV which is a combination of coaxial rotor and quad-rotor, the attitude control method is proposed. The nonlinear attitude control dynamic model of the compound multi-rotor UAV is given. The Proportion-Proportion Integration Differentiation (P-PID) control method is used for the attitude control module and obtaining the virtual control values. The control values distribution matrix is used to realize mapping between the virtual control values and the multi-actuator. The rotation rate-blade pitch integration control method is used to coordinate the rotor’s rotation rate and blade pitch, which ensure fast response of the UAV’s attitude stabilization control. Simulation results show that the attitude controller can realize the UAV’s pitch, roll, yaw attitude motion control, and do well in attitude angle stability control when periodic change attitude angles is tracked.