Control Theory and Informatics www.iiste.org ISSN 2224-5774 (Paper) ISSN 2225-0492 (Online) Vol.9, 2020 1 Internal Model Control Tuned Proportional Integral Derivative for Quadrotor Unmanned Aerial Vehicle Dynamic Model TOOKI Oluwaseun Olayinka Electrical and Electronics Engineering Department., Air Force Institute of Technology (AFIT), Kaduna Email: tooki.oluwaseun@gmail.com Amole Abraham Olatide(Corresponding author) Department of Electrical, Electronic and Computer Engineering, Bells University of Technology, P.M.B. 1015, Ota, Ogun State, Nigeria Email: latidassah@gamil.com Aborisade David Oluwagbemiga Department of Electronic and Electrical Engineering, Ladoke Akintola University of Technology, P.M.B. 4000, Ogbomoso, Nigeria Email: doaborisade76@lautech.edu.ng Okelola, Muniru Olajide Department of Electronic and Electrical Engineering, Ladoke Akintola University of Technology, P.M.B. 4000, Ogbomoso, Nigeria Email: mookelola@lautech.edu.ng Abstract In recent times, there are has been growing substantive attention to the quadrotor Unmanned Aerial Vehicle (UAV) stability control. However, inherent nonlinearity is a major challenge with this control technique, this paper, therefore, developed a PID based Internal Model Control (IMC) method for the dynamic model of quadrotor UAV. The versatility and simplicity of the Proportional-Integral-Derivative (PID) controller enable it to enjoy wide usage and acceptability as stability control methods for the unmanned aerial vehicles. The aim of this paper is to use the PID controller with IMC to control a UAV. The proposed approach - IMC-PID control method -was simulated using MATLAB software and X-plane flight simulator. Thereafter, a comparative analysis of the IMC-PID control method with Chien-Hrones-Reswick, Cohen-coon, and Ziegler Nichols based PID Controllers was done using pitch and altitude as performance metrics. Keywords: Internal Model Control,MATLAB/Simulink, Proportional Integral Derivative, Quadrotor, Unmanned Aerial Vehicle (UAV),X-Plane, DOI: 10.7176/CTI/9-01 Publication date: April 30 th 2020 1. Introduction Drone categorized as an unmanned aerial vehicle (UAV) is known to be no human pilot onboard aircraft (Gene, McCall John, and Corder, 1997). It can either be self-controlled by the computers in it or controlled remotely under the guidance of a pilot on the ground. UAV enjoyed wide adoption in various fields of applications such as military, cinematography and product delivery whereas it was majorly being developed for military purposes in the past. UAVs can either be rotary-wing or fixed-wing typed. Fixed-wing type is characterized by a simple control and better endurance. The fixed-wing type has the capability of sensing images at long distances, this justified its usage for wide-area surveillance and tracking applications. Fixed. The fixed-wing type suffers from sufficient time and space required to regains its progression after turning. The rotary-wing type is as well- referred to as Vertical Takeoff and Landing (VTOL) vehicle. It has high maneuverability, minimum launching time and requires little space for landing (Anuj, 2012). Emerging pieces of evidence have that UAV can still be adopted in several other areas such as environmental protection as in air pollution measurement and monitoring of forest; safety like airspace monitoring, management, and assessment of natural risk like volcano activities monitoring; large infrastructures management like dams, high-tension lines, and pipelines; intervention in hostile sites, agriculture and aerial shooting in film production. It may be used for field observations, to monitor a wide stretch of traffic in the cities (Astha and Amol 2012). Small UAVs are useful for automatic landscape photographing in cartography since they are less stressful and cost-efficient compared to the traditional aerial snapshotting. UAVs are capable of being used for flying laboratories in addition to its ability to serve as proving ground for many algorithms used for control (Ondrej, Stepan, and Zdenek, 2007). The effectiveness of UAVs depends largely on the efficacy of the control scheme been adopted. CORE Metadata, citation and similar papers at core.ac.uk Provided by International Institute for Science, Technology and Education (IISTE): E-Journals