Design of angular PID controllers for quadcopters built with low cost equipment

This work presents the modeling and practical control design of an UAV (Unmanned Aerial Vehicle) based on a quadcopter type. The PID controllers were set for angular position stability (roll and pitch) and yaw speed. The PID gains were designed based on the Saturation Constraints and Performance and Root-Locus technique. The prototype was built with low cost equipment, with satisfactory practical results, producing the expected behavior, allowing safe flight conditions and reliability. The adopted control validation parameters were; peak time (Tp), settling time (Ts) and the percentage overshoot (%UP).