Tuning PID attitude stabilization of a quadrotor using particle swarm optimization (experimental)

Mohamed Tadjine,Moussa Benzaoui,Mohammed Abdallah Khodja,Mohamed Seghir Boucherit

doi:10.1051/smdo/2017001

Abstract

Proportional, Integral and Derivative (PID) controllers are the most popular type of controller used in industrial applications because of their notable simplicity and effective implementation. However, manual tuning of these controllers is tedious and often leads to poor performance. The conventional Ziegler-Nichols (Z-N) method of PID tuning was done experimentally enables easy identification stable PID parameters in a short time, but is accompanied by overshoot, high steady-state error, and large rise time. Therefore, in this study, the modern heuristics approach of Particle Swarm Optimization (PSO) was employed to enhance the capabilities of the conventional Z-N technique. PSO with the constriction coefficient method experimentally demonstrated the ability to efficiently and effectively identify optimal PID controller parameters for attitude stabilization of a quadrotor.

Highlights

The most popular of Unmanned Arial Vehicles is the quadrotor
The second advantage of the Z-N method found in this study is that it produces PID gains that can be put into intervals, such that the Particle Swarm Optimization (PSO) search within an interval by determining the sum of the Integral of Square Error (ISE) and the maximum of the overshoot as a multi-objective function [19] or a fitness function
The results demonstrated the effectiveness of PSO applied to PID controllers for attitude stabilization of the quadrotor

Summary

Introduction

The most popular of Unmanned Arial Vehicles is the quadrotor. Because of its ability to perform agile manoeuvres, take-off and land vertically, and hover, it is an ideal choice for search and surveillance, rescue, monitoring, military, and agriculture applications in both outdoor and indoor environments. PSO used to determine the optimal PID gains for attitude stabilization of the quadrotor experimentally counterpart in [15] they applied for position control and is very clear the optimization of the attitude stabilisation has more priority than position control optimization for quadrotor This stands in contrast with many other research efforts whose results come only from simulations [16,17,18]. The second advantage of the Z-N method found in this study is that it produces PID gains that can be put into intervals, such that the PSO search within an interval by determining the sum of the Integral of Square Error (ISE) and the maximum of the overshoot as a multi-objective function [19] or a fitness function Using this process, we found the optimized PID controller via simulation (offline) and validated the results.

The quadrotor model

Tuning the PID controller using the Ziegler-Nichols method

PID tuning by particle swarm optimization

Results and discussion

Z-N PID tuning

PSO – PID gains optimization

Objective function

Conclusion