Bicopter Position Control System – Arduino PID Control

Development of a bicopter position control system using Arduino Nano with PID control and Kalman filter.

## Bicopter Position Control System with Arduino-Based PID Control
### Overview Developed a **bicopter position control system** using an **Arduino Nano**. Implemented **PID control** based on **MPU6050 sensor data** processed with a **Kalman filter**. System output controls two **brushless motors** via **ESCs**, with real-time monitoring on a **16x2 LCD**. ### Contribution - Coded the **PID control algorithm** and integrated **Kalman filtering**. - Connected and configured **MPU6050** via I2C, ESCs, potentiometer, and LCD. - Tuned PID parameters through testing to optimize response. ### Results - Achieved stable response with: - Rise time: **0.56 s** - Overshoot: **9.58%** - Settling time: **5.37 s** - Final PID values: **Kp = 0.7, Ti = 1.2, Td = 0.5** - System responded well to external disturbances with minimal steady-state error. --- ## System Diagram & Experimental Results