Quadrotor tuning for attitude control based on double-loop PID controller using fictitious reference iterative tuning (FRIT)

This paper proposes a method for quadrotor tuning focusing on attitude control (roll, pitch, and yaw channel). The controller is based upon a double-loop PID structure that is widely used in many flight controller boards. However, it is not easy to tune the parameters of a PID controller such that it satisfies the desired transient response, especially using manual tuning. Thus, this paper proposes a method for quadrotor tuning with a double-loop control structure by using fictitious reference iterative tuning (FRIT) for attitude control. The proposed method is applied to tune the gains of a double-loop PID controller by using FRIT so that the attitude response of a quadrotor matches with the desired response for each channel by using only one-shot experimental input-output data. Implementation results are provided to show the effectiveness of the proposed method.