Comparison of PID control, Backstepping, Backstepping PDPI on Take-off and Hover Quadcopter Position

AbstractQuadcopter is one of the best types of Unmanned Aerial Vehicle (UAV), which is currently growing rapidly in the mechatronics research area. Take-off and hover are a very important fly phase that has to be owned by quadcopter. So, the quadcopter can be utilized optimally, where altitude and angle are fixed. In addition, quadcopter is a complex system that is unstable and can be difficult to fly without any control system, so it is needed the right method to keep the stability in phase of take-off and hover. This paper investigates the comparison method between a proportional-integralderivative (PID), backstepping and combining backstepping PD PI methods as its control. Non-linier model was used to simulate the quadcopter with physical modeling. The results show that the methods are able to set the height and angle of quadcopter with a very small height errors 0.0804, 0.0156 and 0.0132 m, while the angle is always zero as desired.