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This paper proposes three-loop PID (Proportional Integral Derivative) controllers to improve the system performance of a hexacopter. Firstly, the dynamic equations for the modeling process of a hexacopter are presented. Then three diagrams of the controller system are created using the PID controllers. The first system has a position and attitude controller; the second one has one more block, body angular rate correction. The simulation is carried out to study and compare the performance of two controller systems.

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PID Controller System for Hexacopter Using Angular Rate Correction Block

  • 会议论文

  • 发表日期：

    2026年

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  • Thi Tuyet Nhung Le,
  • Dinh Quy Vu,
  • Xuan Tung Pham,
  • Van Minh Nguyen

摘要

This paper proposes three-loop PID (Proportional Integral Derivative) controllers to improve the system performance of a hexacopter. Firstly, the dynamic equations for the modeling process of a hexacopter are presented. Then three diagrams of the controller system are created using the PID controllers. The first system has a position and attitude controller; the second one has one more block, body angular rate correction. The simulation is carried out to study and compare the performance of two controller systems.