Attitude stabilization and altitude control of quadrotor

In this paper, a complete system of quad rotor stability mechanism was designed and implemented. Starting with a Single-axis Implementation of a Quad rotor, SISO approach is implemented for control structure to achieve desired objectives. The tradition PID and modified PID controllers were executed on one -axis of a Quadrotor using Microcontroller. The performance of the designed control structure is evaluated through time domain factors such as overshoot, settling time. Three axis accelerometer and Gyroscopes have been used in the system as the IMU. Attitude stabilization is achieved through implementing of the modified PID controller to each axis. The three axis stabilization is achieved by implementing the simultaneous modified PID controller over the axes and flight tests were performed. Altitude control was achieved by using ultrasonic sensor. In altitude hold mode, Copter maintains a consistent altitude while allowing roll, pitch, and yaw to be controlled normally. Three axis test and implementation of the algorithm has been performed and the results are discussed.