Design of PD-PID Control For Quadrotor At Hover

With an enormous succession in development of tiny sensors using MEMS and NEMS technology, developing tiny vehicles drive in the air become center of attention by new researchers. These vehicles can be utilized in different real time applications. Our research work gives a comprehensive description of such type of well known vehicle (i.e., quadrotor). We have used Newton-Euler method to devise mathematical model for quadrotor. We explained the motion of rotors which is not given in existing work. Our proposed system consists of four controllers including elevation controller, heading controller, location controller, and PID controller. PD parameters are generated using self tuning technique. Experimental analysis was done through simulation using MATLAB tool.