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Simulation and Modeling of Position Control for an X-Configuration Quadcopter Using PID Controller

Author(s): Sereyvatha Sarin1*, Chivon Choeung2, Sophyn Srey3 and Sarot Srang4

Published In : International Journal of Electrical and Electronics Research (IJEER)        Volume 13, Issue 1

Publisher : FOREX Publication

Published : 30 March 2025

e-ISSN : 2347-470X

Page(s) : 156-163

DOI: https://doi.org/10.37391/IJEER.130120

Abstract

Quadcopters are gaining popularity in UAV platforms within the control community because of their intricate dynamics and significant potential in outside applications, owing to their advantages over conventional aerial vehicles. This work introduces the mathematical modeling of a basic quadcopter using an X-configuration and simulates its target position using MATLAB. A Proportional-Integral-Derivative (PID) controller is designed for controlling the position and stabilizing the attitude of the quadcopter. The quadcopter's underactuated nature allows this PID controller to maneuver the vehicle in three dimensions and adjust the yaw angle to the required values while stabilizing the pitch and roll angles. The controller's performance and robustness are assessed through simulations using MATLAB and Simulink. The results illustrate the efficacy and quality of PID control in the positioning regulation of a quadcopter.

Keywords: UAV, quadcopter, control, PID, X-configuration, MATLAB, Simulink .




Sereyvatha Sarin*, Graduate School, National Polytechnic Institute of Cambodia; Email: sereivatha@yahoo.com

Chivon Choeung, Faculty of Electricity, National Polytechnic Institute of Cambodia; Email: choeungchivon@npic.edu.kh

Sophyn Srey, Department of Industrial and Mechanical Engineering, Institute of Technology of Cambodia; Email: sophynkh@gmail.com

Sarot Srang, Department of Industrial and Mechanical Engineering, Institute of Technology of Cambodia; Email: srangsarot@itc.edu.kh

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Sereyvatha Sarin, Chivon Choeung, Sophyn Srey, and Sarot Srang (2025), Simulation and Modeling of Position Control for an X-Configuration Quadcopter Using PID Controller . IJEER 13(1), 156-163. DOI: 10.37391/IJEER.130120.