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

Figure 7

The control effects compare diagrams between ZN-PD and ZN-PID of separately controlling an attitude angle to the desired angle, while the rest attitude angles remain 0. (a) The control effects compare diagram of the roll angle. (b) The control effects compare diagram of the pitch angle. (c) The control effects compare diagram of the yaw angle.

(a) Roll angle

(b) Pitch angle

(c) Yaw angle