AbstractThis paper presents an FPGA based method for stabilization of a quadcopter around the principal axes pitch, roll, and yaw using IMU sensors for angular estimation and the PID algorithm for control. The goal was to solve the problem in hardware level providing a fast method for stabilization. Using an FPGA circuit parallel with a microprocessor the control of the quadcopter becomes simpler the microprocessor can handle other tasks like area mapping or path calculation parallel with the stabilization hardware implemented on the FPGA. Sensor configuration and calibration was implemented on the FPGA along with the PID controller. The implemented circuit was tested in real time on the quadcopter.
Real-time Intelligent PID Controller for Ultrasonic Motor
