A quadcopter is underactuated where there are 6°of motion with only four rotors to control all six motions. Varying the speed of the four rotors can produce thrust, roll, pitch and yaw torque which results in specific movements of the quadcopter. This paper presents the dynamic modeling of a quadcopter, which derived using Newton-Euler formalism and Proportional-integral-derivative (PID) controller for a quadcopter unmanned aerial vehicle. The PID controller is employed in this study due to its simplicity and easy to design. However, it is relatively difficult to determine the optimal tuning gains for PID controller which requires an ample of time with consideration of quadcopter dynamics and nonlinearities. There are several traditional methods for PID gains tuning such as manual tuning and Ziegler-Nichols (ZN-PID) methods, but both are time-wasting with unreliable results specifically for quadcopter system. This work proposes PID gains optimization using Particle Swarm Optimization (PSO) algorithm (PSO-PID) for quadcopter to reduce tuning effort with optimal results. This meta-heuristic algorithm is implemented to provide the optimal PID gains for altitude and attitude stabilization through setup iterations and populations with fixed boundaries. PSO performance is evaluated using several index performances which are IAE, ISE, ITAE and ITSE. The results obtained confirm that the PSO meta-heuristic algorithm works acceptably good with all index performances, especially ITSE, in identifying optimal PID gains for stabilization and trajectory tracking of a quadcopter. It is also proven that PSO-PID controller is better than ZN-PID controller in escape maneuvering of roll motion during wind disturbance occurrence.

Nur Hayati Sahrir

Mohd Ariffanan Mohd Basri

Arabian Journal for Science and Engineering

法赫德国王石油与矿产大学 (KFUPM) 与 SPRINGER 合作出版了《阿拉伯科学与工程杂志》(AJSE)。KFUPM 自 1975 年以来一直出版的 AJSE 是公认的国家、地区和国际期刊，为传播沙特阿拉伯王国、中东和北非地区和世界的研究进展的机会。

The Arabian Journal for Science and Engineering is published in collaboration with King Fahd University of Petroleum and Minerals (KFUPM) and SPRINGER. Since its inception in 1975, KFUPM has been publishing this journal, which is recognized nationally, regionally, and internationally, providing a vital platform for disseminating research advancements from the Kingdom of Saudi Arabia, the Middle East, North Africa, and around the world.

《阿拉伯科学与工程杂志》(Arabian Journal for Science and Engineering) 是法赫德国王石油与矿产大学 (KFUPM) 与 SPRINGER 合作出版的期刊。自1975年以来，KFUPM 一直在出版该期刊，已成为国家、地区和国际上公认的期刊，为传播沙特阿拉伯、中东、北非及全球的研究进展提供了重要平台。

PSO–PID Controller for Quadcopter UAV: Index Performance Comparison

This paper presents the dynamic modeling of a quadcopter, which derived using Newton–Euler formalism and Proportional–integral–derivative (PID) controller for aquadcopter unmanned aerial vehicle and confirms that the PSO meta-heuristic algorithm works acceptably good with all index performances, especially ITSE, in identifying optimal PID gains for stabilization and trajectory tracking.

Category	Quartile
综合性期刊	4
综合性期刊, 综合性期刊	4

PSO–PID Controller for Quadcopter UAV: Index Performance Comparison

ivySCI AI Smartly Parses PDF, Answers Researchers' Questions, and Helps You Understand Papers in Seconds

Journal Info

Category	Quartile
MULTIDISCIPLINARY SCIENCES	2