Modified adaptive flight control of quadrotor based on single neuron PID

Proportional-integral-derivative (PID) is often applied for flight control of quadrotor. However, traditional PID methods is faced with slow setting process and large overshoot, which lead to the disappointing dynamic response and the large steady-state error in the control system. To improve the effectiveness of control, this paper proposes a modified adaptive control method based on single neuron PID, which has two key features. First, the weight coefficients can be regulated. Second, the adaptive adjustment of the neuron ratio is derived by applying a nonlinear control approach. Simulation results demonstrate that the proposed method achieves better channel control than the traditional PID methods, and exhibits faster dynamic response speed, higher steady-state control precision and better robustness.