Design of stability augmentation hybrid controller for a quadrotor unmanned air vehicle

Abstract:

To improve the flight stability of quadrotor unmanned air vehicle(UAV) in different environment, a stability augmentation controller using hybrid control methods is designed. This hybrid controller contains several PID controllers, and it can choose the applicable controller according to the flight altitude and pitch/roll angle, which reduces probabilities of air crash and other potential risks. At the same time a simulation model is built with Matlab/Simulink toolbox which can simulate switching processes of quadrotor UAV in different situations contained take-off, landing, calm weather, windiness and out of control. The simulation results show that the hybrid controller is able to robustly stabilize the quadrotor UAV in different environments.