PID control for attitude stabilization of an unmanned aerial vehicle quad-copter

Quad-copter is a type of Unmanned Aerial Vehicle (UAV) which has four rotors as its lifter. This type can do lot movements in the air while flying, such as yaw, roll, and pitch. This movement can work well by maintaining stability, direction, and the height of that quad-copter. Roll corner, pitch, and yaw are controlled so the quad-copter can move stably. Proportional Integral Derivative (PID) is one of the controlling methods which can use to stabilize the quad-copter movements. The parameters used in this modeling were mass, arm length, radius, motor torsi, and motor speed. Some assumptions applied in modeling were the structure of quad-copter is rigid, symmetric, and the load heavy point of quad-copter is assumed located right in the middle (mass center), and vibration effect in each propeller is ignored. The design is stable with proportional gain of roll and pitches are 1.3 and 1.5, integral gains are 0.04 and 0.05, and derivative gains are 18 and 15.