Self-tuning PID control design for quadrotor UAV based on adaptive pole placement control

Quadrotor helicopters are an increasingly popular rotorcraft for unmanned aerial vehicle (UAV) platforms. Many groups have worked on quadrotors and realized various controllers and scenarios for it. And PID controller, because of simple structure, good stability and less dependence on the model, plays an important role in quadrotor control. This paper presents an application of Self-tuning PID controller based on adaptive pole placement to a quadrotor. This controller can tune the PID parameters online according to the system change. And the simulation results show that the designed flight controller can achieve accurate control for quadrotor with enough adaptability and robustness.