Simulation and Modeling of Position Control for an X-Configuration Quadcopter Using PID Controller

Quadcopters are gaining popularity in UAV platforms within the control community because of their intricate dynamics and significant potential in outside applications, owing to their advantages over conventional aerial vehicles. This work introduces the mathematical modeling of a basic quadcopter using an X-configuration and simulates its target position using MATLAB. A Proportional-Integral-Derivative (PID) controller is designed for controlling the position and stabilizing the attitude of the quadcopter. The quadcopter's underactuated nature allows this PID controller to maneuver the vehicle in three dimensions and adjust the yaw angle to the required values while stabilizing the pitch and roll angles. The controller's performance and robustness are assessed through simulations using MATLAB and Simulink. The results illustrate the efficacy and quality of PID control in the positioning regulation of a quadcopter.