The altitude, position PID controllers design for UAV quadcopter: from theory to experiment

Tóm tắt

Unmanned aerial vehicles (UAV), of which the four-rotor type, called UAV quadcopter, is increasingly applied in many aspects of socioeconomic life, especially in difficult tasks that humans can hardly perform. UAV quadcopter is a complex multivariate nonlinear object,
always affected by air turbulence and wind. This paper presents the process of designing, simulating and testing the position and altitude
controller for quadcopter UAV when considering external disturbances, based on the application of PID control law according to the CohenCoon method. Simulation results on Matlab show that the PID control system using the Cohen-Coon method gives good UAV trajectory
control quality with very small position-height error, <1%, has better response time to object delay, and is more stable with small load
disturbance, compared to the Ziegler-Nichols method. Then, the author conducts testing of the Cohen-Coon PID controller on the F450
quadcopter UAV hardware. The experimental results show that the proposed PID controller ensures accurate control of position, altitude,
trajectory tracking and maintains stable flight balance in external disturbance conditions with light winds.