Adaptive PID gain-scheduling for 3D smart quadrotor flight controller

Even though the PID controller has proven effective in maintaining the stability of drones, this study observes that it still takes a significantly extended period to complete tasks. This timing issue is addressed in this study, along with a performance evaluation of PID controller gains for angle control of drones. The primary objective is to optimize the PID gains to enhance the drone's performance in terms of speed, accuracy, and stability. The proposed solution, named the adaptive PID flight controller, is designed to control the altitude dynamics of a UAV. To achieve this, the study applies a comparative methodology on three levels. Firstly, a single PID controller is applied to all three angles. Secondly, two PID controllers are used for the three angles; one controls the Pitch and Roll angles, and the other is dedicated to the Yaw angle. Finally, three PID sub-controllers are applied to each angle (Pitch, Roll, and Yaw). The comparative analysis aims to identify the PID controller configuration that best optimizes drone angle control, leading to improved stability, responsiveness, and accuracy during flight. Indeed, comparing these findings to previous research, the proposed adaptive PID flight controller, which has not been previously introduced, demonstrates its innovation and effectiveness in the field.