https://ieeexplore.ieee.org/document/7831807
Aiming at the attitude stabilization and angle tracking control of quadrotor aircraft, an optimized cascade double-loop PI-PID controller is proposed. It is based on strong coupling and nonlinear dynamic model in this paper. A PI controller acts as an outer loop controller, which controls primary physical parameter, namely the attitude. The other PID controller acts as an inner loop controller

https://www.youtube.com/watch?v=jA3Y0cUD5GY
Scenario 2 tests how the drone stabilizes its attitude, initial drone position is 30 deg roll. Drone stabilizes in 0.1 sec.Scenario 3 tests how the drone goe

https://iopscience.iop.org/article/10.1088/1757-899X/270/1/012010
In order to accomplish their mission, quadrotors have to follow specific trajectories. This paper presents proportional-integral-derivative (PID) cascade control of a quadrotor for path tracking problem when velocity and acceleration are small. It is based on near hover controller for small attitude angles.

https://www.iosrjournals.org/iosr-jdms/papers/Vol15-Issue%208/Version-9/M1508095258.pdf
system. PID cascade control has been designed to solve the path tracking problem for quadrotor. The controller is evaluated in a 3D environment in simulink. Keyword: Cascade controller, PID controller, Quadrotor, UAV. I. Introduction Quadrotor is multirotor helicopter, which is also known as quadcopter. The most recent design of

https://www.sciencedirect.com/science/article/pii/S1367578823000640
In Abdelmoeti and Carloni, 2016, Lozano and Gutiérrez, 2016, Wei, 2016, a cascade structure was employed to develop linear PID controllers for quadrotor position and attitude control using the parameter space approach. In Guardeño et al. (2019), an optimum-based method for tuning a MIMO PID controller for a quadrotor was presented

https://www.sciencedirect.com/science/article/pii/S1877050918310275
Abstract. In this paper, a nonlinear model of the quadcopter is developed using Newton-Euler formulations of motion and forces along with the design parameters. A cascaded robust PD controller is designed to track the given trajectory. The controller is designed in such a way that even if there are any disturbances, the system behaves well for

https://www.sciencedirect.com/science/article/pii/S0957417423010205
Paper of the Aristotelis Kapnopoulos (2022) presents a collaborative PSO approach involving two controllers to precisely set the parameters of one controller to solve a quadrotor's path tracking problem. That is, the two control schemes include an MPC controller responsible for position control and a PID that adjusts the behavior of the

https://www.semanticscholar.org/paper/Cascade-PID-controller-for-quadrotor-Jiao-Du-Xin/b52c781397657fc5a6d20d9e3d302cf2d2db4da5
The mathematical model of a quadrotor slung system is established, and a double closed-loop control strategy is proposed, together with an input shaping design, to reduce the swing angle of load and keepquadrotor stable simultaneously in the presence of system uncertainties.

https://www.researchgate.net/publication/351645916_Modelling_Simulation_and_Implementation_of_PID_Controller_on_Quadrotors
The developed control system is for both the rectangular position (x, y) and altitude (z) as well as the orientation (attitude angles around the axes)based on 6-Degree of freedom (3 linear and 3

https://ieeexplore.ieee.org/document/9962024
In this paper, a new scheme, that combines the sliding mode control approach and a nonlinear structure of the PID controller, to control the translational and the rotational movements of a quadrotor system is proposed. In fact, six controllers are designed to control the horizontal position, the altitude and the yaw angle of the quadrotor and to stabilize its pitch and roll angles. The

https://link.springer.com/article/10.1007/s12065-019-00312-8
The project's objective is to design a classical controller (PID) for path tracking of a quadrotor. The controller's parameters will be tuned by different nature-inspired algorithms. However, the quadrotor is a 6DOF robot but the PID's structure is mono-variable. So, we develop here a set of PIDs of all measured variables of the quadrotor.

https://www.mdpi.com/2076-3417/11/14/6492
Quadrotor UAVs are one of the most preferred types of small unmanned aerial vehicles, due to their modest mechanical structure and propulsion precept. However, the complex non-linear dynamic behavior of the Proportional Integral Derivative (PID) controller in these vehicles requires advanced stabilizing control of their movement. Additionally, locating the appropriate gain for a model-based

https://ieeexplore.ieee.org/abstract/document/8997208
Abstract: Quadrotors have developed rapidly due to low-cost, precise hovering and the ability of vertical take-off and landing (VTOL). As the crucial part of quadrotors, the control system has been researched extensively. In this paper, we present a PID controller for path tracking based on a double-loop controller where the inner loop is for attitude control and the outer loop is for position

https://iopscience.iop.org/article/10.1088/1742-6596/2483/1/012034/meta
The final results show that the designed control system can make the quadrotor UAV stable in vertical and horizontal motion and can successfully travel to the target position. This paper provides a control method and framework for a PID controller-based quadrotor UAV control system. Export citation and abstract BibTeX RIS.

https://www.degruyter.com/document/doi/10.1515/jisys-2021-0213/html
The aim of this article was to discuss the modeling and control method of quadrotor unmanned aerial vehicle (UAV). In the process of modeling, mechanism modeling and experimental testing are combined, especially the motor and propeller are modeled in detail. Through the understanding of the body structure and flight principle of the quadrotor UAV, the Newton-Euler method is used to analyze

https://www.sciencedirect.com/science/article/pii/S2405896320307357
Abstract. In this paper we present a cascaded control approach using nonlinear model-predictive controllers for both stages. Using a quadrotor platform as an exemplary target plant with fast nonlinear dynamics, a realtime capable design is proposed that does not require the plant dynamics to exhibit clearly separable time constants as in

https://ieeexplore.ieee.org/document/10240362
This paper presents a path planning method that satisfies both environmental constraints and dynamics constraints of the quadrotor helicopters. An improved artificial potential field (APF) method is employed in path planning for the quadrotor to get a series of path points that meet environmental constraints. Using the differential flatness property of the system, a smooth reference trajectory

https://www.mdpi.com/2504-446X/7/2/122
This study considers the problem of generating optimal, kino-dynamic-feasible, and obstacle-free trajectories for a quadrotor through indoor environments. We explore methods to overcome the challenges faced by quadrotors for indoor settings due to their higher-order vehicle dynamics, relatively limited free spaces through the environment, and challenging optimization constraints. In this

https://robotics.stackexchange.com/questions/10940/how-to-implement-pd-controller-to-this-2d-planar-quadcopter-dynamics
Despite this you will find it hard to control a quadrotor with just PD as you may have model uncertainties and disturbances. Some researchers have developed controllers which map your angle errors in SO(3) preventing singularities and allowing you to reach the harder orientations.

https://ieeexplore.ieee.org/document/10151140
The main purpose of this paper is to develop an adaptive PID controller of a quadrotor. We first developed a linear PID controller based on Ziegler and Nichols method, then we developed a nonlinear controller based on PID regulators with adaptive gains. These gains are adjusted according to Lyapunov's theory. Both of controllers were tested and compared. The results of the simulations on a

https://www.naun.org/main/NAUN/circuitssystemssignal/2014/a542005-165.pdf
In this sense, mathematical definition of the PID controller is given as follows: PID = Kp + Ki /s + Kd*s (3) PID=Kp + Kp/Ti*s + Kp*Td*s (4) In Fig. 2, it is shown that application of PID controller covers the parameters to a system. Fig. 2 Applying the PID controller to the system . The PID controller is a combination of PD and PI controllers.

https://ieeexplore.ieee.org/document/10489194/
The quadrotor vehicle control system possesses characteristics such as nonlinearity and strong coupling. This paper presents a design for a quadcopter unmanned aerial vehicle (UAV) flight control system. Firstly, the dynamic model of the quadcopter is established. Then, based on the dynamic model of the vehicle, a dual-loop cascaded PID control system is designed. Finally, simulation

https://ieeexplore.ieee.org/document/5520914
This paper presents the modelling of a four rotor vertical take-off and landing (VTOL) unmanned air vehicle known as the quadrotor aircraft. The paper presents a new model design method for the flight control of an autonomous quad rotor. The paper describes the controller architecture for the quadrotor as well. The dynamic model of the quad-rotor, which is an under actuated aircraft with fixed