Enhancing the Reliability of the Quadrotor by Formulating the Control System Model

The quadrotor has been widely equipped in military and civilian areas. Due to small size and high integration, the system stability is easily affected by the environment. It is important to improve the reliability of the low-cost quadrotor control system and reduce the experimental risk. This paper proposes a method for formulating a simulation model of the flight control system and establishes a physical platform for verification. In this method, the Newton-Euler formula is involved to set up the kinematic equation. The Mahony filter is used for sensor data fusion and attitude solution. A cascade proportion integration differentiation controller with integral separation is designed to control the attitude. Finally, the experimental data are compared to the simulated data to verify the usability of this simulation model and the reliability of the flight control system.