Dynamic Modeling, Assembly and implementing Quadrotor UAV Using PID Controller

Document Type: English


1 Khominishahr Branch, Islamic Azad University, khomeinishahr, Iran

2 Department of Electronic Science, University of Pune, Pune: 411007, India.


in the past decade, paying attention to the vertical fliers has been noted by most of the scientist and researchers, because of their exclusive features. The special capabilities of these, reducing radar identifier, low risk for human life, no restrictions on size and uses such as photography, survey, press coverage, checking, power lines, meteorological analysis, traffic, monitoring, in urban areas, crops and poison, spraying products, controlling country boundaries, controlling illegal imports and exports, fire detection and control, search and rescue operations for missing people and natural disasters can be mentioned, which leads to the plenty of motives for researchers. Contains wide researchers and putting various topics in front of researchers. One of these fields is using various algorithms with the ability to use in their control system. Mainly, the PID controllers are reported by the researchers, but although the PID controller as a classic model has some restrictions, it has shown a good performance. In this research, with the aim of design and implement of extracted value from the Dynamic system to controller point of view first, the history of vertical fliers and quadrotor are discussed, in the following, the result of PID controller is implemented on a real robot and its sustainability is investigated then, through applying the route to the quadrotor, the controller performance of stability and chasing the path is evaluated in practice.


[1]         S. Bouabdallah, “Design and Control of Quadrotors With Application To Autonomous Flying,” École Polytech. Fédérale Lausanne, À La Fac. Des Sci. Tech. L’Ingénieur, vol. 3727, no. 3727, p. 61, 2007.

[2] T. Bresciani, "Modelling, identification, and control of a quadrotor helicopter," no. October 2008.

[3]         D. R. Borah and L. Debnath, “A review on Quadcopter Surveillance and Control,” ADBU-journal Eng. Technol., vol. 4, no. 1, pp. 116–119, 2016.

[4] A. Gibiansky, "Quadcopter Dynamics, Simulation, and Control Introduction Quadcopter Dynamics," pp. 1–18, 2012.

[5]         J. G. Leishman, “The breguet-richet quad-rotor helicopter of 1907,” Vertiflite, vol. 47, no. 3, pp. 58–60, 2002.

[6]         H. talla M. N. ElKholy, “Dynamic Modeling and Control of a Quadrotor Using Linear and Nonlinear Approaches,” Master Thesis, Am. Univ. Cairo, pp. 1–143, 2014.

[7]         G. Szafranski and R. Czyba, “Different Approaches of PID Control UAV Type Quadrotor,” Proc. Int. Micro Air Veh. Conf. summer Ed., pp. 70–75, 2011.

[8]         J. C. Vianna Junior, J. C. De Paula, G. V. Leandro, and M. C. Bonfim, “Stability Control of a Quad-rotor Using a PID Controller,” Brazilian J. Instrum. Control, vol. 1, no. 1, p. 15, 2013.

[9]         Anonymous, “Classical PID Control,” pp. 1–14, 2009.

[10]       A.-R. Merheb and H. Noura, “Novel bioinspired stochastic tuning of a quadrotor PD controller,” Control Conf. (AUCC), 2012 2nd Aust., no. November, pp. 227–232, 2012.

[11]       S. J. Haddadi, O. Emamagholi, F. Javidi, and A. Fakharian, “Attitude control and trajectory tracking of an autonomous miniature aerial vehicle,” 2015 AI Robot., pp. 1–6, 2015.

[12]       A. L. Salih, M. Moghavvemi, H. A. F. Mohamed, and K. S. Gaeid, “Modelling and PID controller design for a quadrotor unmanned air vehicle,” 2010 IEEE Int. Conf. Autom. Qual. Testing, Robot., pp. 1–5, 2010.

[13]       N. Ives, R. Pacheco, D. De Castro, R. Resende, P. Américo, and A. Magalhães, “Stability Control of an Autonomous Quadcopter through PID Control Law,” J. Eng. Res. Appl. www.ijera.com ISSN, vol. 5, no. 54, pp. 2248–962207, 2015.

[14]       Tarot TL280H data sheet, “Air Frame,” 2011.

[15]       ArduPilot APM 2.8 data sheet, “Flight Controller,” 2016.

[16]       data sheet Ublox NEO-7M, “GPS,” 2015.

[17]       433 HZ data Sheet, “Telemetry,” 2009.

[18]       T.-M. A. D. S. 15A, “Electronic Speed Controller,” 2010.

[19]       T. D. S. NET-Q118G, “Receivers,” 2013.

[20]       PULSE 2250mAh 3S LiPo DATA SHEET, “Battery,” 2014.

[21] M. Vanin, "Modeling, Identification, and Navigation," Model. , Identif. Navig. Auton. air Veh., no. May 2013.

[22]       M. Enomoto and Y. Yamamoto, “Modelling, simulation and navigation experiments of Unmanned Aerial Vehicle,” 2015 IEEE Int. Conf. Mechatronics Autom. ICMA 2015, pp. 482–487, 2015.