Position control of quadrotor by embedded PID control with hardware in loop simulation

Quadrotor is a MIMO non-linear system with complex dynamics. It is an open loop unstable system and it requires an efficient control scheme for a stable flight. This paper presents a discrete PID control scheme, which is able to move quadrotor to any point in 3-dimensional space. This paper also presents the implementation of this control scheme on programmable system-on-chip (PSOC) device and tests this controller hardware on quadrotor mathematical model with hardware-in-loop simulation. Simulation results have shown the effectiveness of control scheme and successful implementation on PSOC device.