Research on the attitude control of unmanned multi-ducted-fan flying vehicle

The unmanned multi-ducted-fan flying vehicle is a kind of novel multi-purpose platform for future transportation. In this paper, flight dynamics model is established based on aerodynamics principles and rigid body dynamics theory. To make the controller of the multi-ducted fan flying vehicle more robust, a double closed loop PID controller is put forward with non-smooth parameters optimization method. Numerical simulation and field the experimental results demonstrate that the PID controller has good performance on the inner-loop attitude control in forward flight.