Attitude Control and Low Cost Design of UAV Bicopter

TL;DR

This paper presents a low-cost UAV Bicopter with a PID-based control system utilizing IMU feedback to maintain attitude stability and resist disturbances, implemented on a simple hardware platform.

Contribution

The paper introduces a cost-effective Bicopter design with a PID control system and mechanical configuration optimized for stability and disturbance resistance.

Findings

Successful attitude control under wind disturbances

Low-cost hardware implementation demonstrated

Stable flight achieved in test conditions

Abstract

This paper present a control system for the attitude and low cost design of a Bicopter. The control system uses a PID controller that receives feedback from an IMU to calculate control inputs that adjust the Bicopters attitude (roll, pitch and yaw angles) which is resistant to disturbances (wind noise) on a test bed. The control system is implemented on a hardware platform consisting of a Bicopter, an IMU sensor, and a microcontroller with low cost design. In mechanical design, the Bicopter is designed to more closely resemble the letter "V" so that the distribution of the centre of mass (CoM) of the Bicopter can be such that the servomotor torque reaction is parallel to the axis of rotation of the Bicopter during the movement of the pitch angle attitude. In electronic design, the Bicopter was developed using the ATmega328P microcontroller.