Dynamic analysis and PID control for a quadrotor

In order to analyze the dynamic characteristics and PID controller performance of a quadrotor, this paper firstly describes the architecture of the quadrotor and analyzes the dynamic model of it. Then, based on the classic scheme of PID control, this paper designs a controller, which aims to regulate the posture (position and orientation) of the 6 d.o.f. quadrotor. Thirdly, the dynamic model is implemented in Matlab/Simulink simulation, and the PID control parameters are obtained according to the simulation results. Finally, a quadrotor with PID controllers is designed and made. In order to do the experiment, a flying experiment for the quadrotor has been done. The results of flying experiment show that the PID controllers robustly stabilize the quadrotor.