PD control simulation and analysis for multi-rotor UAV

The four-rotor aircraft has the characteristics of low cost, high performance, and high controllability. In recent years, because the four-rotor aircraft can complete the basic hover, trajectory tracking, formation control, monitoring, and super flip tasks, it has a wide range of applications in highway cruise, search, rescue missions, disaster relief operations, environmental monitoring, and surveillance. Many traditional control models have certain limitations. For example, the need to constantly update the model due to the change of the system with the parameter further increases the complexity of model predictive control. Neural network control is susceptible to external perturbations and the system stability is not high. Sliding film control is prone to jitter vibration, causing drastic changes in the control signal, overshooting too much, and reducing the control performance of the system. Relatively, PD control is adaptable, robust, low cost, and has a faster convergence speed. This paper studies the realizable PD control algorithm of a quadrotor and obtains the optimal parameter value by particle swarm optimization algorithm. According to the designed control algorithm, digital simulation of analog circuit construction is studied in this paper. The results of the simulation show the method proposed in this paper to seek the optimal control parameter with the particle swarm algorithm. The control system under the participation of this parameter has a good control effect with a short response time and a small overshooting amount.