Quadcopter stabilization by using PID controllers

Abstract

This work presents the stabilization of a quadcopter by using PID controllers to regulate its four basic movements: roll, pitch, yaw angles, and altitude. The stabilization of the system is made from a simplified model which makes easier the implementation of controllers on a SISO system, showing effectiveness within a range of ±10° for a roll and pitch angles and a full range on yaw angle and altitude. The PID controller module is designed to be used with commercial quadcopters and it has been implemented using inertial and ultrasonic sensors. Furthermore, the system also features a wireless interface to observe the aircraft performance during the flight.