小型四旋翼飞行器的建模与自主飞行的姿态控制

Quadrotor is the helicopter with six degrees and four inputs which is the underactuated system. It is nonlinear dynamic, so it is difficult to be controlled. In the paper, the model of mathematic dynamic is taken by the quadrotor and fight principles of mechanical structure and Newton-Euler equation. In the attitude control, It take pid control in the three-channel (pitch,roll,yaw),and take the feedback of angular velocity for increase the damping. So the control system's stability could be strengthen. The attitude control system applied to the actual flight test, and verified the design.