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Attitude Control and Altitude Control of a Four-Rotor Flying Robot

In this research, an attitude control method for our uniquely designed four-rotor flying robot is proposed based on the multi-loop PID control method using two sensor feedbacks. Meanwhile, by using the altitude increasing rate differentiated from the altitude feedback of the atmospheric pressure sensor as the input of the control system, an altitude control method is also proposed and applied, which aims to make it easier for users to maintain the flying robot in a certain altitude. It is proven that the flying robot can move more stably through simulation and experiments using actual flying robot.