Title: Enhancing altitude control in quadrotors: a study on PID parameter selection and Euler angle influence

Authors: Dinh-Dung Nguyen; Manh-Hung Duong; Quang-Chinh Hoang

Addresses: Faculty of Aerospace Engineering, Le Quy Don Technical University, Hanoi, Vietnam ' Faculty of Aerospace Engineering, Le Quy Don Technical University, Hanoi, Vietnam ' Faculty of Aerospace Engineering, Le Quy Don Technical University, Hanoi, Vietnam

Abstract: This study presents a comprehensive examination of the mathematical model, stabilisation, and control channels of quadrotors, focusing on minimising the influence of Euler angle control channels on altitude control. Using simulations conducted in MATLAB, the research evaluates various parameter selection methods for proportional-integral-derivative (PID) controllers across different control channels. The results demonstrate smooth tracking of the altitude setpoint with a steady-state deviation of only 0.1 metres and no significant overshoot, confirming the effectiveness of the PID tuning, particularly the integral component. Additionally, the study shows that changes in Euler angles, such as pitch and roll deviations, can induce altitude drops of up to 2 metres (20%), with recovery occurring gradually due to the integral action. While the model excludes specific aerodynamic effects and assumes ideal measurement conditions, it highlights the necessity for further research into real-world measurement inaccuracies and environmental influences such as wind and rain. This study is foundational for future investigations into more complex quadrotor models and aims to advance the understanding of PID controller parameter selection, particularly regarding its impact on altitude control.

Keywords: quadrotor; PID controller; control algorithms; filter; compensation.

DOI: 10.1504/IJSA.2025.148747

International Journal of Sustainable Aviation, 2025 Vol.11 No.3, pp.251 - 270

Received: 02 Apr 2025
Accepted: 25 May 2025
Published online: 22 Sep 2025 *

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