A Simple Attitude Control of Quadrotor Helicopter Based on Ziegler-Nichols Rules for Tuning PD Parameters

Figure 5

The control effects compare diagrams between ZN-PID and GA-PID for three attitude angles. (a) The control effects compare diagram of the roll angle loop. (b) The control effects compare diagram of the pitch angle loop. (c) The control effects compare diagram of the yaw angle loop.

(a) Roll angle

(b) Pitch angle

(c) Yaw angle