Neural Network Control System of UAV Altitude Dynamics and Its Comparison with the PID Control System

Table 1

The PID gains.

Configuration	Mode	KP	KI	KD	N	Remark
Config. #1	Roll	0.4	0.3	0.1	5	Assuming all rotors have similar characteristics
	Pitch	0.4	0.3	0.1	5
	Yaw	0.2	0.1	0.1	5
	Altitude	0.3	0.3	0.1	5
Config. #2	Roll	0.4	0.3	0.1	5	Treating each rotor with its own respective coefficients
	Pitch	0.4	0.3	0.1	5
	Yaw	0.2	0.1	0.1	5
	Altitude	0.3	0.3	0.1	5
Config. #3	Roll	2	5	2	5	Treating each rotor with its own respective coefficients
	Pitch	2	5	2	5
	Yaw	1	5	2	5
	Altitude	2	2.5	0.5	5