Data-Driven Adaptive PID Control of Unknown Quadrotor UAVs

In this paper, a novel data-driven adaptive PID control (DAPIDC) scheme is developed for unknown quadrotor UAVs. Main contributions are as follows: 1) By applying the virtual control strategy and arithmatic inverter technique, discrete incremental PID control laws are first designed for position subsystem and attitude subsystem; 2) On this basis, an efficient coefficient adjustment scheme based on data-driven strategy is proposed, which can adjust PID controller parameters online, thereby contributing to strong adaptability to the unknown dynamics, uncertainties and disturbances; 3) Finally, the simulation studies are carried out and compared with the conventional PID method, so that the effectiveness and superiority of designed DAPIDC scheme is demonstrated.