<![CDATA[Nowadays, UAV quadcopters are widely used in many fields, specially in transporting the lightweight goods parcels. This article aims to design and evaluation of the quality of the 6-DOF UAV quadcopter control system using heuristic PID tuning methods to ensure stable control of flight position and attitude. Firstly, the article presents the dynamic mathematical model of the 6-DOF UAV quadcopter, including 3 Euler angle variables and 3 flight position and altitude variables. From there, the article proposes the 6-DOF UAV control syste structure with two single control loops for flight attitude, yaw angle and two dual control loops for roll-pitch angles, flight position. And then, the article presents the application of the heuristic PID tuning methods to each control loop of a 6-DOF UAV quadcopter to calculate the PID controller parameters to ensure stable control the desired flight position and altitude. The simulation results and evaluating the 6-DOF UAV quadcopter control system quality in Matlab, using the proposed heuristic PID controllers, show that the PID controllers according to the Tyreus-Luyben method gives the best quality, with a steady-state error of less than 1%. The main contribution of this article is the comparative analysis of three heuristic PID tuning methods - Ziegler-Nichols, Tyreus-Luyben, PID tuner - for controlling the position and attitude of a 6-DOF UAV quadcopter. Â These findings demonstrate that the proposed PID controllers can be effectively implemented in practical UAV applications, enhancing the stability and performance of quadcopters in various fields.]]>
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