Cascade attitude control of hexacopter with PI and disturbance estimation

Unmanned Aerial Vehicles (UAVs), known as drones and quadcopters, have been widely used in military and civilian usages, including filming, fields of delivery, national defense and mission enforcement. This paper deals with proportional and integral(PI) control of a hexacopter in cascaded structure with observer estimation. The inner-loop control systems use PI controller while the outer-loop control systems use proportional control with an estimator for the turbulent disturbance. Experimental results have shown the validity of the proposed method.