PSO-based PID control design for the stabilization of a quadrotor

Abstract

In this paper, we propose a Particle Swarm Optimization (PSO) method to design decentralized PID controllers. The proposed method is used for the stabilization of a quadrotor. That is, without loss of generality, four decentralized PD controllers are used in order to stabilize the quadrotor angles and height. A PSO algorithm is used to tune simultaneously the parameters of the four controllers against a square error (SE) cost function which quantifies the whole system performance compared to its desired behavior. Some simulation results are presented to show the efficiency of the method.