Design a PID Regulator for Stabilizing Quadrotor

Hoa T. T. Nguyen, Dung Thien Tran

PID, Quadrotor, Complement filter, STM32 microcontroller.

Stabilizing Quadrotor is a main point needed to be solved before making this track along a desired trajectory. This paper present an explicit procedure to design a Propotional – Integral – Derivative (PID) regulator for stablizing Quadrotor. For more details, the mathematical model of Quadrotor is described under an engineering point of view, based on which a suitable PID controller(P, PI, PD, or PID) is designed and programmed on STM32 microcontroller. Besides, a good control feeback system needs a clean feedback signals, so effects of sensor noises are reduced by applying the complement filter. The performances of the control system and how sensor noises are well eliminated are going to be demonstrated by not only simulation but also experimental result.