Controller optimization of quadrotor UAV

摘要

Adjusting method of traditional PID controller is complicated. The controller obtained by adjusting method of traditional PID may be not optimal. Therefore, present paper utilized the genetic algorithm to optimize the PID controller parameter of roll channel of quadrotor UAV. According to the feature of lateral stability control model of quadrotor UAV, ascend time of system, steady state error, and weighted overshoot are chosen as objective function. In order to obtain the better control effect, penalty function is used to limit the oscillation of system. Simulation results show that PID controller designed by the genetic algorithm possess the excellent flexibility, adaptability and can produce the better control effect.