Parameters tuning of a quadrotor PID controllers by using nature-inspired algorithms

  • Seif-El-Islam HasseniEmail author
  • Latifa Abdou
  • Hossam-Eddine Glida
Special Issue


This paper aims to investigate the control of a quadrotor by PID controller. The mathematical model is derived from Euler–Lagrange approach. Due to nonlinearities, coupling and under-actuation constraints, the model imposes difficulties to generate its controller by using classic ways. Firstly, we have designed a control structure which weakens the couplings and permits to develop a decentralized control. Secondly, in order to get the optimal path tracking, the controllers’ parameters were tuned by stochastic nature-inspired algorithms; Genetic Algorithm, Evolution Strategies, Differential Evolutionary and Cuckoo Search. A comparison study between these algorithms according to the path tracking is carried out by implementing simulations under MATLAB/Simulink. The results show the efficiency of the proposed strategy where the optimization algorithms achieve good performance with a slight difference between the indicate techniques.


Quadrotor PID controller Optimization Stochastic nature-inspired algorithm Evolutionary algorithms 



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Copyright information

© Springer-Verlag GmbH Germany, part of Springer Nature 2019

Authors and Affiliations

  1. 1.Energy Systems Modeling Laboratory, Electrical Engineering DepartmentUniversity of BiskraBiskraAlgeria
  2. 2.Identification, Command, Control and Communication Laboratory, Electrical Engineering DepartmentUniversity of BiskraBiskraAlgeria

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