Aiming at the problem that the traditional PID controller has difficulty in parameter setting and lack of control stability for strongly coupled system such asquadrotor

a new type of control algorithm based on PID neural network（ PIDNN） is proposed. A micro quadrotor is designed based on STM32 microcontroller. The simulation of the system by MATLAB shows that compared with the traditional PID control

PID neural network control has faster stable time and less overshoot

which improves the stability and adaptive ability of the system

and generalized decoupling is realized at the same time.