Experimental dynamics identification and control of a quadcopter

Simulation of a Quadcopter in Matlab need identify their dynamic parameters for that in this work will present experiment to identify some needed dynamic parameters for Quadcopter. The obtained parameters simulated in Matlab and give us good results. The simulated system checked in an experiment. Successful Implementation PID controller for attitude stabilization found. The implementation based on home-made autopilot based on Arduino and 10DOF Inertial Measurement Unit (IMU). The Ziegler-Nichols (ZN) PID tuning were done in experiments help determine stable PID gains in less time. The procedure of Ziegler-Nichols experimentally proofed the capability to determine PID gains for attitude stabilization of a QuadCopter.

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