Effect of PSO Tuned P, PD, and PID Controllers on the Stability of a Quadrotor

Ustunkok T., Karakaya K. M.

1st International Informatics and Software Engineering Conference, IISEC 2019, Ankara, Türkiye, 6 - 07 Kasım 2019 identifier

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Doi Numarası: 10.1109/ubmyk48245.2019.8965487
  • Basıldığı Şehir: Ankara
  • Basıldığı Ülke: Türkiye
  • Anahtar Kelimeler: control systems, evolutionary computing, flying robot., natural computing, optimization, PD, PID, PSO, quadrotor
  • TED Üniversitesi Adresli: Evet

Özet

Many popular quadrotor controllers are based on PID controllers. This study compares the behavior of a quadrotor when its controller is the proportional (P) only, proportional (P) and derivative (D), and all terms of the PID controller which is tuned by a Particle Swarm Optimization (PSO) implementation. A P, PD, and PID controller integrated quadrotor model is used with realistic parameters while conducting experiments in simulation. Our goal is to find out if it is worth to use PID or some of its terms is enough to get a stable system. According to the preliminary results of the experiments, the statistical difference of results shows that PID is better than both P and PD for the given model.