Attitude adjustment of quadrotor aircraft platform via a data-driven model free adaptive control cascaded with intelligent PID

In this work, a novel cascade model free adaptive control method (MFAC) with an intelligent PID (i-PID) algorithm is proposed for the attitude adjustment of a multi-input multi-output (MIMO) quadrotor aircraft. Since the quadrotor system may be open-loop unstable, it is first stabilized using i-PID controllers to ensure its controllability. Then the closed-loop quadrotor system controlled via i-PID controllers is controlled by using MFAC. In this way, the MIMO aircraft system is decoupled via a novel concept called Pseudo Jacobi Matrix (PJM), such that the conventional complex modelling and decoupling process can be avoided. The comparison experimental results implemented on a practical quadrotor aircraft verify the effectiveness of proposed approach.