Optimal Tilt Integral Derivative Controller with Filter Design for Quadrotor Based on Adaptive Particle Swarm Optimization

Abstract

In this paper, a Tilt Integral Derivative controller with Filter (TIDF) is proposed for attitude control of an unmanned aerial vehicle (UAV). The parameters of the proposed controller are optimized using Adaptive Particle Swarm Optimization (APSO) employing an Integral Square Error (ISE). Further, the fitness function in the APSO is modified and the inertia weight of the current velocity is updated based on the fitness value of each individual at the previous moment. Experiments are performed to examine the performance of the developed controller. Compared with the traditional controllers, the proposed controller has higher performance on the robustness and stability.