Design of Quadrotor Hovering Controller Based on Improved Particle Swarm Optimization

In this paper, the Proportion-Integral-Derivative (PID) controller is used in hover control of the quadrotor unmanned aerial vehicle (UAV). PID controller is widely used because of its good control effect, simple implementation and so on. The tuning of its parameters is the key problem in the design of PID controllers. Aiming at the difficulty of parameter tuning of PID controller, the method of combining inheritance operation of genetic algorithm and particle swarm optimization (PSO) is used to tuning the PID parameters, and the inertia weight of PSO is adjusted dynamically. That is, locally inherited particle swarm optimization algorithm with dynamic adjustment of inertia weight (WLIPSO). The feasibility of the improved algorithm is verified by simulation experiments. The simulation results show that WLIPSO compared with the traditional particle swarm algorithm and genetic algorithms (GA) has faster convergence speed, better performance and can provide good control effect.