# Performance Evaluation of a Quadcopter by an Optimized Proportional-Integral-Derivative Controller
## 1 Introduction  
Recently, the application of UAVs (unmanned aerial vehicles) has been widely launched in distinct markets. According to a report about market forces, the revenue that comes from the wide application of UAVs is expected to exceed USD 8.5 billion by 2027. Additionally, UAV-based architectures have been explored for the development and implementation of next-generation technologies such as 5G, V2X (vehicle-to-everything) communications, etc. [1]. Such technologies have been applied in the industrial, agriculture, transportation, and entertainment fields, and even in the current war. The application of UAVs has gradually become a core research theme in environmental detection, and the research of aerial vehicles is most popular with aerial QA (quadrotor aircraft). Moreover, the study in [2] aimed to optimize the autonomous performance (i.e., both longitudinal and lateral) and endurance of the quadrotor-type aerial vehicle simultaneously, depending on the autopilot gain coefficients and battery weight. In [3], the authors explain that the purpose of their research was to investigate the impacts of UV (ultrasonic vibration) and tool-pin profiles on the mechanical properties and microstructural behavior of AA7075-T651 and AA6061-T6 joints. The reason that quadcopter aircraft can obtain a balance between two vehicles is due to the flight principle and materials cost. The quadcopter performs altitude calculations based on the sensors configured on the flight controller. Moreover, it is calculated by a three-axis gyroscope and a three-axis accelerometer to achieve directional monitoring of various data (e.g., angular rate, acceleration, etc.) of the quadcopter. However, therehave been many critical issues, including hardware and software, which could be addressed in the deployment of the UAV. The study in [4] investigated viscous cementitious mortars for AAM (aerial additive manufacturing); it also assessed workability and buildability. A robotic arm representing UAV movement in three-dimensional space moved a lightweight deposition device to extrude multiple layers. In fact, the discussion of the PID (proportional-integral-derivative) algorithm for precisely and accurately controlling the UAV was an important research event. The PID algorithm can more effectively improve the speed control of these types of motors. Based on the previously described facts and the experimental function, we were motivated to provide a self-making and self-designing version of the PID controller. Finally, the study underwent some manual tests that support a determination of the efficacy of an in-depth controller with a PID regulator plus a direction controller equipped with an \(\mathrm{Stm}^{\text{\textregistered}}\) MCU (micro control unit) modular. The main objective, and effective target, was to achieve satisfactory control performance compared to other controllers. Seriously speaking, there are many existing works describing studies that were carried out that arrived at relevant results from the experimental simulation of UAVs. In report [5], authors describe in-depth research based on a quadcopter UAV model that is widely used in society, including for agricultural pesticide-spraying UAVs and defense-industry detection UAVs. Moreover, the important architecture of this UAV includes a flight controller, electronic governor, and motor. Quadcopter UAVs need to be lightweight and maneuverable, as these characteristics are advantageous [6]. Hence, the motor selected was a brushless DC motor. Compared to a brushed DC motor, the brushless DC is superior, although the cost is higher, because the brush introduces friction with the rotor inside. On the other hand, the produced sparks could result in increased maintenance costs [7]. The literature detailing the PID controller of brushless DC motors is described to help this study on the characteristics of brushless DC motors. The motor needs to convert DC into a three-phase alternating current and promote the permanent magnet in the motor structure and the stator for angle commutation.