Autonomous Quadrotor Flight Stabilisation Based on a Complementary Filter and a PID Controller

Abstract

One of the priority tasks in constructing a quadrotor is fault-tolerant control and stabilizing its flight. This paper proposes a quadrotor stabilization system based on onboard sensors, an accelerometer, a gyroscope, a complementary filter that combines their readings, and a PID controller. The complementary filter is used to improve the accuracy of tilt angles relative to the ground, and the PID controller is used to calculate the deviation compensation and bring the quadrotor to the required position. The filter makes it possible to level the gyroscope zero drift and discrete integration errors. At the same time, the PID controller compensates for the deviation of the quadrotor from the horizontal position. Experimental validations show that our approach is able to accurately control the position of a quadrotor without any external sensors and achieve sufficiently high-quality flight stabilization with RMSE 2°.