A Preliminary Parametric Analysis of PID Delay-Based Controllers for Quadrotor UAVs

The actual paper provides a set of parametric stability charts considering a quadrotor rotorcraft performing stabilizing maneuvers under the presence of feedback time-delays and subjected to PID controllers. The analysis considers the couplings between the translational (slow dynamics) and the rotational (fast dynamics) motions. The parameters of the controllers, within the overall control scheme, are computed using the well-known stability crossing roots theory. Numerical simulation results, including the full dynamic model and the corresponding linear model of the vehicle, are presented to validate the proposal.