Control System Design for Tricopter using Filters and PID controller
  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. 
Vishal P Venkata and Natarajan V
cs.SY