KARNATAK LAW SOCIETY’S

GOGTE INSTITUTE OF TECHNOLOGY

UDYAMBAG, BELAGAVI-590008

(An Autonomous Institution under Visvesvaraya Technological University, Belagavi)

(a) (APPROVED BY AICTE, NEW DELHI)

Course Activity Report on

Optimization of Flight Controller for Nano-drone

Submitted in the partial fulfillment for the academic requirement of

8th Semester B.E. in

FINAL YEAR PROJECT

Submitted by

NAME USN
PRAVEEN DOOG 2GI20AE023
SRUJAN NERLE 2GI20AE038
ABHIRAJ PATIL 2GI20AE002

Under the guidance of

Prof. Anil kumar Nakkala

Asst. Prof.,Dept. of AE

ACADEMIC YEAR 2023-2024(even semester)

KLS GOGTE INSTITUTE OF TECHNOLOGY, DEPT OF AERONAUTICAL ENGINEERING Page 1

 KARNATAK LAW SOCIETY’S

GOGTE INSTITUTE OF TECHNOLOGY

UDYAMBAG, BELAGAVI-590008

(An Autonomous Institution under Visvesvaraya Technological University, Belagavi)

(b) (APPROVED BY AICTE, NEW DELHI)

Department of Aeronautical Engineering

CERTIFICATE

This is to certify that Master.PRAVEEN DOOG(2GI20AE023 ), SRUJAN NERLE-

(2GI20AE038), ABHIRAJ PATIL(2GI20AE002) of 8 th semester has satisfactorily
completed the course activity Final year Project Phase II . It can be considered as a bonafide
work carried out in partial fulfillment for the academic requirement of 8th Semester B.E.
prescribed by KLS Gogte Institute of Technology, Belagavi during the academic year
2023- 2024

The report has been approved as it satisfies the academic requirements in respect of
Assignment (Course activity) prescribed for the said Degree.

Signature of the Faculty Member Signature of the HOD

Date: 25/01/2024

KLS GOGTE INSTITUTE OF TECHNOLOGY, DEPT OF AERONAUTICAL ENGINEERING Page 2

TABILE OF CONTENT

Certificate --

Abstract 4

Chapter-I Introduction 4

(PID Controller)
Chapter-II PID Tuning 6

Chapter-III Simulink Model 7

Conclusions 8

References 8

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Abstract:
The development of a flight controller for a nano drone using MATLAB Simulink represents a
significant advancement in micro-aerial vehicle technology. This controller leverages the power
of Simulink's comprehensive modeling environment to ensure precise control and stability
during flight operations. By integrating sophisticated algorithms and sensor data processing
techniques, the controller enables agile maneuvering, efficient altitude maintenance, and rob
ust trajectory tracking in confined spaces. Its compact design and optimized computational
efficiency make it an ideal solution for navigating complex environments, offering promising
prospects for diverse applications, including surveillance, exploration, and environmental
monitoring.

Chapter 1
Introduction:
PDI Controller
A PID controller, which stands for Proportional-Integral-Derivative controller, is a feedback control
system widely used in engineering and industrial applications to maintain a desired output in a system. It
aims to minimize the difference between the desired setpoint and the actual output by adjusting the
control input.

The PID controller has three main components:

1. Proportional (P) Term:

- The proportional term is directly proportional to the current error (difference between the setpoint and
the actual output).

- It provides a response to the present error, attempting to reduce it.

- The proportional term is calculated as P(t) = K_p *e(t),

where:

- P(t) is the proportional term at time t

- K_pis the proportional gain, a tuning parameter.

- e(t)is the error at time t

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2. Integral (I) Term:
- The integral term considers the accumulation of past errors over time.

- It is used to eliminate the steady-state error that may persist with only proportional c ontrol.

- The integral term is calculated as I(t) = K_i times int eta u, dtau,

where:

- I(t) is the integral term at time t.

- K_i is the integral gain, another tuning parameter.

- int e tau, dtauis the integral of the error over time up to t.

3. Derivative (D) Term:

- The derivative term anticipates the future trend of the error, providing damping to the system.

- It helps prevent overshooting and oscillations.

- The derivative term is calculated as D(t) = K_d times frac{de(t)}{dt}, where:

- D(t) is the derivative term at time t.

- K_d is the derivative gain, the third tuning parameter.

- frac{de(t)}{dt} is the rate of change of the error at time t.

The overall control output (U) at any given time is the sum of these three terms:

U(t) = P(t) + I(t) + D(t)

In summary, the PID controller adjusts the control input based on the current error, the accumulated past
errors, and the anticipated future trend of the error. The tuning parameters K_p, K_i, and K_d are
adjusted to achieve the desired system response. The effectiveness of PID controllers lies in their ability
to balance the trade-off between stability, responsiveness, and minimizing overshooting in a controlled
system

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Chapter 2
PID Tuning
Tuning a PID controller for a drone is a meticulous process crucial for achieving optimal flight
performance. The Proportional-Integral-Derivative (PID) controller, inherent to most flight
control systems, necessitates careful adjustments to its three components: Proportional (P),
Integral (I), and Derivative (D). Commencing with default PID values provided by the
manufacturer or flight control software serves as a foundational step. The Proportional
component, responsible for responding to the current error, is initially tuned by gradually
increasing the P gain until slight oscillations are observed. Subsequent fine-tuning determines the
maximum P value before instability arises. Integral tuning follows to address accumulated past
errors and eliminate steady-state errors. Gradually increasing the Integral gain helps find the
sweet spot where steady-state errors are minimized without inducing instability, with caution
given to potential integrator wind-up issues. The Derivative component is then introduced to
dampen oscillations introduced by the Proportional term. Initiating with a low D gain,
adjustments are made until oscillations are sufficiently damped without compromising
responsiveness.

PID tuning methods

PID tuning involves various methods, each catering to different system characteristics and
tuning objectives:

1. Manual Tuning:
- Operators adjust PID gains based on their experience and understanding of the system.
- Intuitive and straightforward but may be time-consuming and less precise.

2. Ziegler-Nichols Method:
- Systematically increases the Proportional (P) gain until sustained oscillations occur.
- Critical gain and oscillation period are used to determine initial PID parameters.
- Quick and practical for obtaining initial values but can lead to aggressive tuning.

3. Cohen-Coon Method:
- Similar to Ziegler-Nichols but involves determining ultimate gain and ultimate period.
- Provides PID tuning parameters through empirical correlations.
- Offers an alternative approach to Ziegler-Nichols with potentially more accurate
results.

4. Model-Based Tuning:
- Involves using mathematical models of the system for tuning.
- Requires a good understanding of the system dynamics and modeling accuracy.

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Chapter 3
Simulink Model

Fig:Model With PID Controller

RESULT

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Conclusion:
PID controllers balance system response using Proportional, Integral, and Derivative terms.
Tuning optimizes these parameters. For example, tuning a drone's PID ensures stable flight with
quick, precise control adjustments.

We learnt about PID Controller, Tuning of PID in flight control system and Matlab and
Simulink.

By using simulink and flight control basics we will create a control system and embed it in
arduino board and test it with a drone model

Reference:

[1] G.H. Tuta Navajas and S. Roa Prada; “Building your own quadrotor: A mechatronics
system design case study,” III IEEE International Congress of Engineering Mechatronics and
Automation (CIIMA). pp. 1-5, 2014.

[2] M. Hassan Tanveer, S. Faiz Ahmed, D. Hazry, Faizan A. Warsi and M.Kamran Joyo;
“Stabilized controller design for attitude and altitude controlling of quad-rotor under disturbance
and noisy conditions,” American Journal of Applied Sciences 10 (8). pp. 819-831, 2013.

[3] Patel Keyur and Jayesh Barve; “Modeling, simulation and control study for the quad-copter
UAV,” 9th IEEE International Conference on Industrial and Information Systems (ICIIS). pp.1-
6, 2014.

[4] Tnunay H., Abdurrohman M.Q., Nugroho Y., Inovan R., Cahyadi A., Yamamoto Y.;
“Auto-Tuning Quadcopter Using Loop Shaping,” International Conference on Computer,
Control, Informatics and Its Applications (IC3INA). 2013.

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