Adaptive PID Controller of a Quadrotor

The main purpose of this paper is to develop an adaptive PID controller of a quadrotor. We first developed a linear PID controller based on Ziegler and Nichols method, then we developed a nonlinear controller based on PID regulators with adaptive gains. These gains are adjusted according to Lyapunov's theory. Both of controllers were tested and compared. The results of the simulations on a model of a quadrotor, equipped with the developed control laws, showed the effectiveness of the adaptive PID controller compared to the conventional PID one. The adaptive PID controller reacts well to different types of input signals and can perfectly follow reference trajectories with negligible output error.