Design of Cascade PD Controller Algorithm for The Quad-Rotor UAV

Compared with traditional fixed wing drones, quad-rotor drones have better maneuverability and stability. It can adapt to more complex flight environments and requires lower control skills from the operator, so quad-rotor drones have been widely used in various fields in recent years. The quad-rotor itself has the characteristics of strong coupling, nonlinearity, and fewer driving numbers about degrees of freedom, which greatly increase the design difficulty of quad-rotor flight control systems. Based on the corresponding theories of physics and mechanics, a mathematical model was first established for the quad-rotor; Then, a flight control system based on the cascade PID control algorithm was designed for the quad-rotor. The control system has been verified to have strong stability and anti-interference ability through simulation of flight experiments.