PID controlling of the Quadrotor and sensor performance tests

Abstract

This paper includes three main parts. The first part is about a Quadrotor as a type of unmanned vehicles. The second part includes its mathematical model and controlling with PID controller. The last part consists of some in flight and on ground testing. For the aforesaid processes first of all a Quadrotor has been built. The Quadrotor is designed within the Anadolu University which is the unique university because of its own airport. The design has some problems such as slow vibration speed, long response time and big movements in roll axes so some controlling applications have been developed. After ensuring its stabile flight, some sensor tests have been carried out to develop its control mechanism.