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October 18, 2025Open Access

The altitude, position PID controllers design for UAV quadcopter: from theory to experiment

Key Points

The designed PID controllers effectively control the position and altitude of UAV quadcopters, achieving high precision.
Simulation results using Matlab reveal performance stability, particularly in light wind and turbulent conditions.
The proposed control method applies Cohen-Coon techniques, optimizing the quadcopter's response to external disturbances.
Testing on the F450 UAV quadcopter hardware confirms the effectiveness of the PID control in real-world scenarios.

Abstract

Unmanned aerial vehicles, of which the four-rotor type, called UAV quadcopter, is increasingly applied in many aspects of socio-economic life, especially in difficult tasks that humans can hardly perform. UAV quadcopter is a complex multivariate nonlinear object, always affected by noise (air turbulence, wind ...). This paper presents the process of designing, simulating and testing the position and altitude controllers for UAV quadcopter when considering noise, on the basis of applying PID control law according to Cohen-Coon method. Simulation results on Matlab and experiment results on the UAV quadcopter F450 hardware show that the proposed PID controllers ensures precise control of position, altitude, tracking flight trajectory and maintaining stable balance in both air turbulence and light wind conditions.

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