Experimental Evaluation of Bicopter Stabilization Using PID Control

This paper presents an experimental study on the stabilization and control of a bicopter system using classical control techniques. The bicopter consists of two motors driven by electronic speed controllers (ESCs) and equipped with an MPU6050 inertial measurement unit to measure angular variations around the pitch axis. A series of real-time tests were conducted using proportional (P), proportional–derivative (PD), and proportional–integral–derivative (PID) controllers to evaluate their performance in achieving system stability. The results show that the proportional controller alone was insufficient to stabilize the bicopter, leading to strong oscillations. The addition of a derivative term improved damping and reduced oscillations, while the inclusion of an integral term further eliminated steady-state error when properly tuned. The optimized PID parameters (Kp = 3, Ki = 0.001, Kd = 0.8) provided stable performance with minimal error and acceptable response time. The findings confirm the effectiveness of the PID controller for maintaining balance and stability in bicopter systems, providing a foundation for future improvements such as adaptive and intelligent control methods.

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