Analysis of the Stability of quadcopter and Control using PID controller

Abstract

A UAV is an avion which fly without a human pilot which can be controlled by autopilot hardware. In this work, a type of aerial vehicle called quadcopter is considered which is very agile and unstable. A helicopter can be lifted by aerodynamic principle acting upon wings but quadcopter can't lift like helicopter any one of the motor failure or speed of the four motor mismatches will lead to a severe accident. As a result, it’s highly challenging for a human to control the flying quadcopter by controlling every motor directly, for this reason, they move for classic piloting method to achieve extreme reaction speed and attention. The scope of this paper is to develop an autonomous quadcopter using a PID controller which has a capacity of stable flying in the air with the help of using a microcontroller-based control mechanism. That can be done by measuring Euler angles to produce a control signal to the quadcopter to control its position and velocity. The Quadcopter is designed to be small enough so that cost would be minimized.