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Cascade control algorithms of position and attitude for multirotor UAV

Control algorithms are essential in multirotor aerial platforms and remain a trending research topic. This paper presents the development process of different cascade controllers for multirotor UAVs. Two main usage areas of this method are described — the control of position and attitude. Based on the literature and experience from previous research, structures of mentioned algorithms are proposed. Adequate data-driven simulation models are formulated and used in the tuning process. Additionally, a customised test bench was constructed and utilised for experiments. Comparison between previous solutions and new control structures is performed in both simulation and field experiments. Better performance, robustness and flexibility of cascade control algorithms are proven on the basis of gathered results.