Optimizing PID Controller Coefficients Using Fractional Order Based on Intelligent Optimization Algorithms for Quadcopter

摘要

One of the main controllers in systems is PID controller, and setting the PID controller values using test and try is time-consuming and may not be accurate. On the other hand, due to higher flexibility and having more advantages of Fractional Order PID (FOPID) controller, in this paper, to reduce computational time and search efficiency, FO based on implementing Particle Swarm Optimization (PSO) algorithm is suggested to improve and optimize the PID control system in quadcopter as an Unmanned Aerial Vehicle (UAV). In addition, the settling time and peak of the system are improved by using FOPID. According to the results of the simulation, FO-PID has more advantages than PID and, finally, computer simulations will be used to prove and analyze the results.