Simulation and comparison between a linear and nonlinear technique applied to altitude control in quadcopters

Real Time Optimal Tuning of Quadcopter Attitude Controller Using Particle Swarm Optimization

“…However, the tuning of the PID controller may present challenges as it has to provide effective quadcopter dynamical behavior around the balance point. Several researchers have successfully used particle swarm optimization (PSO) based techniques to tune the PID controller parameters during the design stage or as an offline experimental technique; interested readers can consult the following recent references [25][26][27]. To achieve the desired performance in practice, an automated search technique that is based on PSO needs to be implemented for tuning the PID controller's gains [34][35][36][37][38][39].…”

“…This work proposes an optimal tuning method for the ubiquitous PID controller focusing on attitude stabilization using particle swarm optimization (PSO). PSO was used previously in the literature for controller tuning [26][27][28][29], where several authors proposed to perform tuning using simulation of a dynamical model and then implemented the results to a physical model of a quadcopter. However, the unmodeled quadcopter dynamics and the diversity of uncertainties in dimensions and physical parameters all combined prevented finding well-tuned parameters.…”

Improved Altitude Control Algorithm for Quadcopter Unmanned Aerial Vehicles

“…Although several control methods have been proposed in the literature, PID control has become the most widely used technique in a variety of applications all over the world because it is simple and easy to design and typically delivers a satisfactory performance. The PID approach was used in many studies [22][23][24][25][26][27][28] to achieve not only quadcopter altitude control, but also attitude stabilization and horizontal position control. In recent studies [29][30][31][32], the authors proposed the use of a multi-loop control architecture (i.e., inner-loop and outer-loop) to control quadcopters in specific applications.…”

“…Quadcopters are an important class of UAVs that are superior in many ways: they have a simple structure, are quick to manufacture, and are inexpensive [4,5]. Controlling their position, in general, and altitude, in particular, has been the subject of numerous studies [6][7][8][9][10][11][12][13][14][15][16][17][18][19][20][21][22][23] with ever more advanced algorithms having been proposed to address the quadcopter control problem.…”

Quadcopter Adaptive Trajectory Tracking Control: A New Approach via Backstepping Technique

“…It is undeniable that the conventional proportional-integral-derivative (PID) control is still widely used in a variety of many applications all over the world because it is uncomplicated to be applied and acceptably meet given requirements in many studies [7][8][9][10][11][12][13][14][15]. The authors [16][17][18][19] presented the use of a multi-loop control scheme (i.e., inner-loop and outer-loop) to control quadcopters in specific applications.…”