Different approaches of PID control UAV type quadrotor

In this paper we focus on the different control strategies for the unmanned aerial vehicles (UAV). The control task is formulated as an angular stabilization of the quadrotor platform, and also as a tracking problem of chosen state variables. The PID algorithm has been considered in three structures in respect of the optimal control signal applied to the actuators. For better performance of quadrotor during the hover mode the cascade control system has been proposed. The experiment results for the platform orientation control with different PID controller architectures are presented, and confirm the effectiveness of the proposed method and theoretical expectations.