Improved Pid Controller for Drone Height Stabilization

This research entails the development of an Improved Proportional Integral Derivative (PID) controller for drone height stabilization. Modern-day drones usually encounter stabilization issues because of environmental forces acting on the drone. These forces have the capacity to launch the drone into an uncontrollable roll, pitch, and yaw. Also, these drones are faced with height stability issues. As a result, the drones are equipped with a lot of expensive height sensors and software algorithms to keep them stable. This research is therefore carried out to show that a less expensive sensor gyroscope alone is sufficient to stabilize the height of the drone, provided that appropriate software is written. In accomplishing this research, a PID controller is developed using the Zeigler-Nicholas method. A three-dimensional model of the drone was developed using SIMULINK in MATLAB. Disturbance is the form of a push force that is also developed in SIMULINK, and at the end of the simulation, the drone is seen to handle a vertical push force along the z-axis of 50N in both directions (positive and negative z-axis) without being thrown into instability. Finally, this research has shown that the height can be stabilized without employing expensive sensors.