Simulation and experimental study on PID control of a quadrotor MAV with perturbation

This paper presents a proportional-integral-derivative (PID) flight controller
for a quadrotor micro air vehicle (MAV). The MAV (Parrot Mambo
minidrones) is small, therefore, a slight perturbation will affect its
performance. Hence, for the actuated dynamics, roll (ϕ), pitch (θ), yaw (ψ),
and z stabilization, a PID control scheme is proposed. Furthermore, the same
controller technique is also applied for under-actuated dynamics x and y
position control. The newtonian model is simulated using simulink
with a normal Gaussian noise of force as external disturbances.
using simulink support package for Parrot Minidrones by MATLAB
and based on the simulation parameter, the algorithm is deployed using
Bluetooth® Low energy connection via personal area network (PAN).
A slight force by hand is applied as perturbation during hovering
to investigation system performances. Finally, the simulation
and experimental on this commercial MAV, Parrot Mambo minidrones
shows good performance of the flight controller scheme in the presence
of external disturbances.