A PSO-based Approach for Tuning of PD Controller of a Hexacopter

摘要

Tuning the parameters of a Proportional Derivative (PD) controller applied to control the trajectory of a hexacopter is a continuos and multidimensional optimization problem which can be solved using a Particle Swarm Optimization (PSO) algorithm. It is an efficient heuristic optimization technique that simulates the collective social behaviour of a biological population, such as birds flock, to find the optimal or near optimal solutions of a multivariable objective function in a continuos search space. The aim of this paper is to tune the PD controller parameters using PSO algorithm in order to minimize the hexacopter trajectory error. Performance of PSO-based approach proposed are evaluated considering the Integral Square Error (ISE) of the hexacopter trajectory as objective function. Simulation results show the effectiveness of the PD tuning using PSO-based optimization approach for a desired trajectory.