Attitude control of small coaxial twin-rotor aircraft

In this paper, the flight control of a small coaxial twin-rotor aircraft is studied, mainly for the hover control and trajectory tracking of the aircraft. In this paper, the PID algorithm is used to establish the mapping relationship between attitude angle and position, and the robust back-stepping control algorithm is selected to control the attitude of the aircraft to make it hover at the specified position. The simulation is verified in Matlab-Smulink, the stability error is less than 0.05m, and the trajectory tracking ability and anti-interference ability are verified. The results show that it has good hovering stability, anti-interference performance and certain maneuverability. The results show that it has good hovering stability, anti-interference performance and certain maneuverability.