Adaptive Inner-loop Feedback Control of Multi Rotor Helicopter

Abstract In this study, we aim at realizing the adaptive control system that enables the multi-rotor helicopter to fly autonomously without the tuning by human operator. This paper presents the design of the inner loop feedback control of multi-rotor helicopter based on adaptive PID control. The controller is designed by using the theory of simple adaptive control (SAC) method. Numerical simulation and flight experiment are carried out to verify the efficiency of proposed feedback control.