PID controller designed for Quadrotors: Simulation

Overview

This project focuses on designing a PID controller for a Quadrotor UAV to stably hover. The controller's performance is evaluated through Simulink simulation.

Key Features

• Mathematical Modeling: Full dynamic model of a Quadrotor.
• Control Algorithm: Proportional-Integral-Derivative (PID) Controller for altitude and position tracking.
• Simulation: Testing the algorithm in an simulated Simulink environment.

Control Architecture

This image shows the block diagram of the Quadrotor control system in Simulink:

Simulation Results

The graph shows the Quadrotor's trajectory when hovering at 1 m:

Discussion

• Simulation: Fast response, but noticeable overshoot
• Future Work: Tune PID controller's parameters, or integrate fuzzy logic