PID Controllers Design for a Quadrotor System Using Teaching Learning Based Optimization

Abstract

Optimized Proportional Integral Derivative controllers are designed to control the translational and rotational motions of a quadrotor system with six degrees of freedom. The teaching learning based optimization algorithm is used to obtain the proportional, integral and derivative gains of six PID controllers so that the integral time absolute error criterion is minimized. The control objective, is to enforce the horizontal position, altitude and yaw angle of the quadrotor to track their desired reference trajectories while stabilizing its roll and pitch angles. The efficiency and the control performance of the proposed scheme are demonstrated through numerical simulation and compared with those of the PID controllers designed using genetic algorithm, the sliding mode control and other control techniques proposed in the literature. The simulation study shows the good performance of the proposed control scheme in terms of transient response characteristics, tracking accuracy and disturbance rejection.