  The purpose of this paper is to present the control system design of
Tricopter. We have presented the implementation of control system in software
in this paper. Tricopter's control system mainly consists of two parts
Complimentary filter and PID block. The angles along X, Y and Z axis are taken
from the complementary filter which acts as a feedback block. We have used the
combination of gyroscope and accelerometer for finding the angle. We have also
shown the role of the complimentary filter in finding out the angle along X, Y,
and Z axis instead of using gyroscope and accelerometer directly. The second
main part is the PID Controller which calculates the error in angle along X, Y
and Z axis and produces an output signal which reduces error. We have shown the
importance of the constant parameters of PID Controller. The results of this
paper are tested on an actual Tricopter and also plotted in the form of graph
using Matlab and Processing software.

Systems and Control