Modeling and Simulation of Quadrotor UAV Using PID Controller

Abstract

Recent developments in sensor technology, actuators and energy storage devices provides opportunities for development of micro flying robots. This paper provides information about modeling and control of a Quadrotor. Proportional Integral Derivative (PID) controller is designed for altitude and attitude control of Quadrotor. Various simulations were performed and it could be interpreted that the PID controller is capable of tracking the desired reference values. Finally, the last section is devoted for discussing the results of each simulation.