A Comparative Study on the Tuning of the PID Flight Controllers Using Swarm Intelligence

Year 2020, Volume: 01 Issue: 02, 80 - 91, 30.12.2020

Aziz Kaba

https://doi.org/10.23890/IJAST.vm01is02.0205

Abstract

QUAVs have some shortcomings in terms of nonlinearities, coupled dynamics, unstable
open – loop characteristics and they prone to internal and external disturbances. Therefore,
control problem of the QUAVs is still an open issue. Designed controllers based on the linear
dynamics have limited operating ranges. Therefore, nonlinear dynamics of the QUAVs must be
derived and used in the control problem. Although some advanced controllers are presented for
QUAV control, PID controllers are the most employed, well – known controllers with the simple
structure, ease of implementation, solid functionality and robustness amongst the variations up
to a degree.
In this paper, PID based controllers are proposed for the nonlinear attitude dynamics to
overcome the control problem of the QUAVs. However, since optimality and tuning of the PID
controllers are fuzzy due to trial and error approaches, swarm intelligence based metaheuristic
algorithms (ABC, ACO and PSO) are employed to optimize the PID coefficients. Results are
compared in terms of transient analysis and MC analysis to cover the rise time, settling time,
percentage overshoot, steady – state error for the former and stochastic fitness evaluation for the
latter, respectively.

Keywords

Quadrotor, UAV, PID, Control

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