Auto-Tuning of Attitude Control System for Heterogeneous Multirotor UAS

This paper presents a heterogeneous configuration of the multirotor unmanned aerial system (UAS) that features combined characteristics helicopter and quadrotor in single design, featuring endurance energy efficiency similar to helicopter, while keeping mechanical simplicity, control, manoeuvrability standard quadrotor. Power needed for rotorcraft hover has inverse relation with rotor disc. Therefore, multiple small rotors are energetically outperformed by large size. Designing stable control such dynamically complex remains main challenge as studies previously carried out on these designs have successfully demonstrated but at cost degraded attitude control. Advancements energetics results enhanced range could be highly effective remote operation applications. However, is required accurate positioning. In this paper, cascaded PID approach proposed provide solution multirotor. Automatic tuning design controller each loop cascade structure. A relay feedback experiment conducted controlled environment, followed identification open-loop frequency response estimation dynamics. Subsequently, controllers tuned through approximated models help rules. custom-designed flight used experimentally implement Presented experimental demonstrate efficacy strategy UAS.