Optimized PID, FOPID and PIDD2 for Controlling UAV Based on SSA
Keywords:UAV, SSA, PID, FOPID, PIDD^2
Unmanned aerial vehicles (UAVs) are widely used in recent years for different applications. Thus, UAV control attracted many researchers to suggest suitable controllers. The simplicity of PID controller makes it the first choice. In this paper, an offline tuning procedure based on Salp swarm algorithm (SSA) for the attitude control of UAV is proposed. The parameters of PID, Fractional order PID (FOPID), and PID Plus Second-order Derivative (PIDD2) have been tuned and their performance is compared in terms of rise time, maximum overshoot, settling time, and integral time absolute error.
 N. H. Abbas and A. R. Sami, "Tuning of PID Controllers for Quadcopter System using Hybrid Memory based Gravitational Search Algorithm – Particle Swarm Optimization," International Journal of Computer Applications, vol. 172, pp. 9-18, August 2017.
 N. Xuan-Mung and Sung-Kyung Hong, "Improved Altitude Control Algorithm for Quadcopter Unmanned Aerial Vehicles," applied sciences, vol. 9, no. 10, May 2019.
 K. Pan, Y. Chen, Z. Wang, H. Wu, and L. Cheng, "Quadrotor Control based on Self-Tuning LQR," in 2018 37th Chinese Control Conference (CCC), Wuhan, China, 2018.
 E. Okyere, A. Bousbaine, G. T. Poyi, A. K. Joseph and J. M. Andrade, "LQR controller design for quad-rotor helicopters," The Journal of Engineering, January 2019.
 E. Reyes-Valeria, R. Enriquez-Caldera, S. Camacho-Lara and J. Guichard, "LQR control for a quadrotor using unit quaternions: Modeling and simulation," in International Conference on Electronics, Communications and Computing, Cholula, Puebla, Mexico, 2013.
 M. R. R. M. H. N. S. M. S. Hossein Bolandi, "Attitude Control of a Quadrotor with Optimized PID Controller," scientific research, vol. 4, pp. 335-342, 2013.
 M. Karahan and C. Kasnakoglu, "Modeling and Simulation of Quadrotor UAV Using PID Controller," in International Conference on Electronics, Computers and Artificial Intelligence (ECAI), Pitesti, Romania, 2019.
 B. Kamel, B. Yasmina, B. Laredj, I. Benaoumeur and A.-F. Zoubir, "Dynamic modeling, simulation and PID controller of unmanned aerial vehicle UAV," in Seventh International Conference on Innovative Computing Technology (INTECH), Luton, UK, 2017.
 L. M. Argentim, W. C. Rezende, P. E. Santos, and R. A. Aguiar, "PID, LQR and LQR-PID on a quadcopter platform," in 2013 International Conference on Informatics, Electronics and Vision (ICIEV), Dhaka, Bangladesh, 2013.
 G. Sheng and G. Gao, "Research on the Attitude Control of Civil Quad-Rotor UAV Based on Fuzzy PID Control," in 2019 Chinese Control And Decision Conference (CCDC), Nanchang, China, 2019.
 H. Yin, Q. Wang and C. Sun, "Position and attitude tracking control for a quadrotor UAV via double-loop controller," in 2017 29th Chinese Control And Decision Conference (CCDC), Chongqing, China, 2017.
 T. Kara and A. Mary, "Adaptive PD-SMC for Nonlinear Robotic Manipulator Tracking Control," Studies in Informatics and Control, vol. 26, pp. 49-58, March 2017.
 T. Kara and A. H. Mary, "Robust trajectory tracking control of robotic manipulators based on model-free PID-SMC approach," Journal of engineering research, vol. 6, pp. 170-188, 2018.
 A. Noordin, M. A. M. Basri and Z. M. &. I. M. Lazim, "Adaptive PID Controller Using Sliding Mode Control Approaches for Quadrotor UAV Attitude and Position Stabilization," Arabian Journal for Science and Engineering, vol. 46, p. 963–981, 2021.
 XiaominTian, Y. Huang and C. Zhang, "The tuning principle of adaptive fuzzy fractional-order PID controller parameters," Procedia Engineering, vol. 7, pp. 251-255, 2010.
 A. H. G. S. Z. M. S. S. H. F. S. M. M. Seyedali Mirjalili, "Salp Swarm Algorithm: A bio-inspired optimizer for engineering design problems," Advances in Engineering Software, vol. 114, pp. 163-191, 2017.
How to Cite
Copyright (c) 2023 American Academic Scientific Research Journal for Engineering, Technology, and Sciences
This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.
Authors who submit papers with this journal agree to the following terms.