Design and analysis of an optimized fractional order PIDcontroller for a quadcopter system based

Abstract

Because quadrotors are characterized by highly non-linear dynamics and interrelated parameters, the development of eff ective control techniques to handle their complex structures is highly challenging. Although PID control has proven to exhibit satisfac- tory performance, any improvement over traditional approaches would be considered valuable. In light of that, Fractional Order PID which was designed to enhance the con- ventional PID confi guration through its additional parameters, is gaining more attention and a wider scope of applications. In this regard, an optimized Fractional Order PID was designed and analyzed for the control of a quadrotor system. The introduced approach was examined through a broad range of experiments that covers Roll, Pitch, Yaw, and altitude control of a typical quadrotor model. Moreover, four well-regarded Metaheuris- tic algorithms are employed to tune the fi ve parameters of the FOPID, namely: Particle Swarm Optimization (PSO), Grey Wolf Optimization (GWO), Harris Hawks Optimizer (HHO), and the Equilibrium Optimizer (EO). The considered algorithms were investi- gated and compared through several benchmark indicators : Integral of Absolute Error (IAE), Settling time, Rise time, and Overshoot. Overall, the records ranked the Equi- librium Optimizer to be the best performing algorithm over its rivals. The resultant optimized FOPID was then compared with the Optimized PID counterpart through the same indicators. In essence, the overall dynamic response delivered by the FOPID was on average 99.69% better than the standard PID controller.