A PSO-BASED TUNING ALGORITHM FOR QUADCOPTER CONTROLLERS

Sarah Pontes Madruga¹; Augusto de Holanda Barreto Martins Tavares¹; Gabriel F. Basso¹; Tiago Pereira do Nascimento¹; Alisson Brito¹

¹ Universidade Federal da Paraíba

Baixar PDF doi:10.20906/CPS/CBA2018-0064

Resumo

In this paper, we present the trajectory and attitude control of a quadrotor UAV (Unmanned Aerial Vehicle), using a PD controller for the path control, and a PID for the attitude control. With our tuning method, we were able to achieve a performance similar to those of more complex controllers. We compared our results with those of traditional tuning techniques, through graphical analysis and MSE (Mean-Squared Error) calculation of two different generated trajectories. Although here we used classical PD and PID, the proposed algorithm can easily be applied to any other type of controller.

Palavras-chave: Quadcopter; PID tuning; PSO