Design and Quality Evaluation of the Position and Attitude Control System for 6-DOF UAV Quadcopter Using Heuristic PID Tuning Methods

Nowadays, UAV quadcopters are widely used in many fields, specially in transporting the lightweight goods parcels. This article aims to design and evaluation of the quality of the 6-DOF UAV quadcopter control system using heuristic PID tuning methods to ensure stable control of flight position and attitude. Firstly, the article presents the dynamic mathematical model of the 6-DOF UAV quadcopter, including 3 Euler angle variables and 3 flight position and altitude variables. From there, the article proposes the 6-DOF UAV control syste structure with two single control loops for flight attitude, yaw angle and two dual control loops for roll-pitch angles, flight position. And then, the article presents the application of the heuristic PID tuning methods to each control loop of a 6-DOF UAV quadcopter to calculate the PID controller parameters to ensure stable control the desired flight position and altitude. The simulation results and evaluating the 6-DOF UAV quadcopter control system quality in Matlab, using the proposed heuristic PID controllers, show that the PID controllers according to the Tyreus-Luyben method gives the best quality, with a steady-state error of less than 1%. The main contribution of this article is the comparative analysis of three heuristic PID tuning methods - Ziegler-Nichols, Tyreus-Luyben, PID tuner - for controlling the position and attitude of a 6-DOF UAV quadcopter. These findings demonstrate that the proposed PID controllers can be effectively implemented in practical UAV applications, enhancing the stability and performance of quadcopters in various fields.