Quadcopter stabilization using PID controller

Abstract

During the last decade, quadcopter have been extensively used for many applications. A quadcopter is an under-actuated system because it uses four actuators to control six degrees of freedom, it is also considered as highly coupled and nonlinear system. Therefore, the design of a controller for the stabilization of the quadcopter during vertical flight represents a real challenge. The purpose of this work is to design and practically implement Proportional-Derivative-Integral (PID) control techniques, in order to control a quadcopter during vertical flight .I naddition ,w einvestigat eth eeffe ct ofP IDparamet ertuni ngon stability performance of the quadcopter system and the practical constraints encountered at differen tstage so fth ehardware/softwar eimplementatio nproces so fth equadcopter system, and propose suitable solutions. In this work, an ESP32 microcontroller was used as the main control unit. In addition, the MPU6050 Inertial Measurement Unit (IMU) was used to estimate the tilt angles of the quadcopter. Three PID controllers have been designed for each tilt axis, to maintain the quadcopter leveled during vertical flight.