基于双循环pid控制无人机航行附matlab代码+仿真结果和运行方法.zip

# UAV_PID uav by using the double-loop pid control The kinematic model of uav is covered in fly.m which is an second derivative model. The inputs of the four propellers is listed in fm.m. And the parameters of the pid need to be retried when uses the model of "+". PID_fly.m is the controler of the double-loop. showUAV.m is used to show the pose.