Autonomous trajectory tracking of a quadrotor UAV using PID controller

摘要

Quadrotor helicopters are becoming popular rotorcrafts for unmanned aerial vehicles (UAV) platforms because of its simplicity, high maneuverability and the ability to withstand harsh environments without the risk of human intervention. This now imposes a demand in areas of control and navigation. For the quadrotor to follow a desired path, a controller must be able to track its trajectory and ensure that the error is minimal with the presence of external disturbances. The study will utilize the use of a PID as the controller of the Quadrotor UAV. PID controller is popular because it has good control performance and is easy to implement but the changing of its coefficients are performed manually.