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The quadrotor is a non-linear, multivariable, strongly coupled under actuated system that is very difficult to control precisely. In this paper, the mathematic model of the quadrotor is established. Since the mathematical model is nonlinear, the model used in the controller and the simulation analysis is often linear. Therefore, it is necessary to linearize the nonlinear model first. Using LPV method, and then use the PID algorithm to control the quadrotor attitude. Simulink is used to simulate the model, which proves that PID has significant effect on attitude control of quadrotor.

Research on Attitude Control Algorithm of PID Quadrotor based on LPV Method