Abstract—This paper presents sensor fusion algorithm using nonlinear complementary filter (NCF) for attitude estimation and a proportional-integral-derivative (PID) controller for small-scale quadrotor unmanned aerial vehicle (UAV) stabilization. From inertial measurement unit (IMU) data, gyroscope as a main sensor is fused to another two sensors; accelerometer and magnetometer to correct drift error of gyroscope to obtain reliable attitude estimation. In this paper, the performance of NCF is implemented on real-time while applying PID controller for attitude stabilization of quadrotor UAV during hovering. Experimental results show the effectiveness of PID controller for quadrotor UAV stabilization during attitude control.
 

Index Terms—nonlinear complementary filter, quadrotor, PID, UAV.

Cite: Aminurrashid Noordin, Mohd Ariffanan Mohd Basri, and Zaharuddin Mohamed, "Sensor Fusion for Attitude Estimation and PID Control of Quadrotor UAV," International Journal of Electrical and Electronic Engineering & Telecommunications, Vol. 7, No. 4, pp. 183-189, October 2018. Doi: 10.18178/ijeetc.7.4.183-189