Research of stability augmentation flight control algorithm for quadrotor unmanned air vehicles

To improve the flight stability of quadrotor unmanned air vehicles (UAVs) flight control problem, a stability augmentation controller design approach is presented under parameter variations and external disturbances. The controller is made of two parts: an inner-loop attitude controller and an outer-loop position controller. The inner-loop attitude controller is designed with backstepping algorithm. The outer-loop position controller is realized with fuzzy adaptive PID algorithm. The stability augmentation controller and its performance are evaluated using a non-linear, six degree of freedom (DOF) dynamic model of a quadrotor UAV in simulate and practical experiments. The results illustrate that the proposed controller can effectively realize the stability.