An Application of 4-Rotor Unmanned Aerial Vehicle: Stabilization Using PID Controller GOKHAN GOL NILGUN FAZILET BAYRAKTAR EMRE KIYAK Department of Avionics Anadolu University Faculty of Aeronautics and Astronautics, Eskisehir, 26470 TURKEY gokhangol@anadolu.edu.tr nfbayraktar@anadolu.edu.tr ekiyak@anadolu.edu.tr Abstract: - This paper has been prepared for designing 4-rotor unmanned aerial vehicle (UAV) and carrying out its control with PID controller. In this context, it divides into four fundamental parts. First part describes what 4-rotor UAV is. Second part is about mathematical model of the 4-rotor UAV. PID controlling and its basic parameters have been analyzed theoretically in the third one. Finally, testing IMU sensors and some controlling applications have been carried out and their outputs have been presented. As a result, the stabilization in desired level has been obtained via designed PID controlling system. Key-Words: - UAV, PID controller, flight control 1 Introduction Since eras when people and flying creatures lived together, the act of flying has aroused the curiosity in the human mind. Such being the case, aviation sector becomes one of the fast-growing sectors along with technology. When analyzing the history of aviation, it is seen that air vehicles have ranged from balloon to unmanned aerial vehicles that is, they have varied greatly. This variation led the formation of air power concept which is of greatly importance in terms of defense industry over time. The governments recognize the importance of the air power has considerably invested in this field. Thanks to these investments, many features of the vehicle such as technical parameter, control algorithm, and maneuverability etc. have developed and increased. Accompany these, when the literature is analyzed, it is seen that the studies on this field have increased. For theoretical models of quadrotor aerodynamics to be analyzed by using helicopter momentum and blade element theory [1], for an unknown parameter belongs to quadrotor to be identified with the help of Unscented Kalman Filter [2], for adaptation to unknown payloads and robustness to disturbances to be achieved [3], for the method aiming at solved problems resulted from dynamic characteristics of a quadrotor to be proposed [4], the design of nonlinear modeling of quadrotor and obtaining its mathematical model [5], quadrotor performance and design of a PID controller for stabilization of the dominant decoupled pitch and roll models [6], for quadrotor propellers to allow to tilt [7], for coaxial quadrotor to be designed [8], for aerodynamic and mechanical model of UAV constructed from carbon composite material to be designed [9], for the nonlinear dynamic model of a quadrotor and its controlling to be examined [10], developing a cascade control method for superheated processes [11], for the architecture of a quadrotor and analyzes the dynamic model of it to be described [12], an implementation of computer vision to hold a quadrotor via a low-cost, consumer-grade, video system [13], using sliding mode disturbance observer (SMC-SMDO) approach for designing a robust flight controller [14], designing a controller making use of the block control technique for trajectory tracking of a quadrotor [15], presentation nonlinear robust control method for solving the problems on path following [16], proposing attitude control strategy based on variable structure control theory [17], capable of attitude estimation and stabilization of unmanned aerial vehicle [18], analyzing the attitude control of a rigid body [19], quadrotor flight in terms of vision-based obstacle avoidance [20] can be given as examples of the studies in point. When comparing the above mentioned studies, this paper focuses the subjects such as construction and balance stability of quadrotor and obtaining some control parameters of the rotors. Recent Advances in Circuits, Systems, Telecommunications and Control ISBN: 978-960-474-341-4 90