DOI : https://doi.org/10.18517/ijaseit.7.4.3141

Modelling and PSO Fine-tuned PID Control of Quadrotor UAV

Aminurrashid Noordin (1), Mohd Ariffanan Mohd Basri (2), Zaharuddin Mohamed (3), Amar Faiz Zainal Abidin (4)
(1) Faculty of Engineering Technology, Universiti Teknikal Malaysia Melaka, Hang Tuah Jaya, 76100, Durian Tunggal, Melaka, Malaysia
(2) Faculty of Electrical Engineering, Universiti Teknologi Malaysia, UTM Johor Bahru, 81310, Johor, Malaysia
(3) Faculty of Electrical Engineering, Universiti Teknologi Malaysia, UTM Johor Bahru, 81310, Johor, Malaysia
(4) Faculty of Engineering Technology, Universiti Teknikal Malaysia Melaka, Hang Tuah Jaya, 76100, Durian Tunggal, Melaka, Malaysia
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How to cite (IJASEIT) :
Noordin, Aminurrashid, et al. “Modelling and PSO Fine-Tuned PID Control of Quadrotor UAV”. International Journal on Advanced Science, Engineering and Information Technology, vol. 7, no. 4, Aug. 2017, pp. 1367-73, doi:10.18517/ijaseit.7.4.3141.
Citation Format :
This paper describes nonlinear dynamics model of x-configuration quadrotor using Newton-Euler modelling technique. To stabilize quadrotor attitude (roll (ϕ), pitch (θ), yaw (ψ)) during hovering, a PID controller is proposed. There is individual PID controller for each roll, pitch, yaw and z where 12 parameters consist of kp, ki, and kd are fine-tuned using particle swarm optimization algorithms. From the simulation, the sum absolute error fitness function give the best optimize result where quadrotor achieve zero steady state error for hovering with 18.9% overshoot, and 4.42s settling time. Accordingly, for attitude stabilization, roll angle, pitch angle, and yaw angle converge to the set point, zero approximately with settling time 2.76s, 0.1s and 3.2s respectively.

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