Safe Implementation of PID Controllers for Unmanned Aerial Vehicles Using a Test Platform

This work presents the design and implementation of a PID controller applied to an unmanned aerial vehicle. The main objective is to implement a control algorithm, which allows the vehicle in question to remain flying at a desired angular position, controlling the angular velocity of the vehicle. This thanks to the design of a gyroscope-type structure that limits spatial but not angular mobility. The PID controllers are of standard type, and were designed under simulation schemes using a dynamic model of the vehicle. Finally, using the test platform, the implementation of the designed controllers was performed and their performance was analyzed. The results show that the PID controller is able to stabilize the vehicle and keep it in the desired angular position.