The Experimental Study of Attitude Stabilization Control for Programmable Nano Quadcopter

Abstract

Rotary-wing nano-quadcopters are unmanned technologies used for reconnaissance and surveillance operations in many areas, especially strategic missions such as security and military operations. The main problem for these devices, which reached a wide audience with the widespread use of civilian production, is stabilization. The most important parameter affecting the stable, effective and reliable flight of these UAVs in the air is PID elements. In this study, experimental studies are carried out in [x, y, z] coordinates using a programmable Nano-quadcopter Crazyflie 2.0 drone. In order to determine the relationship between stabilization and PID control parameters of these systems, each coordinate axis is analyzed statistically. As far as is known, there is no study in the literature regarding the performance of the PID parameters of the Crazyflie 2.0 drone. At the end of the analysis study with the SPSS program, it is determined that the related drone moves with a very high level of efficiency in the "z" axis and performs the task related to the high level of efficiency on the y-axis. It is also confirmed that the drone performs poorly in the stabilization movement on the "x" axis and as a result of the analysis study, the system becomes more stable by making the necessary adjustments in the "yaw_p" parameter. Thanks to the study, it is aimed to create a decision support system for the optimization of the PID control parameters of UAVs, which are used extensively in every sector.