PSO optimization of Integral Backstepping Controller for Quadrotor attitude stabilization

This paper deals with the attitude stabilization problem for an under-actuated Quadrotor UAV system. We propose the use of Particle Swarm Optimization (PSO) algorithm for tuning Integral Backstepping Controller (IBC) which is applied for the stabilization of a Quadrotor UAV model. The method is used to minimize a Square Error (SE) fitness function which quantifies the performance of the whole control system. Controller parameters are tuned respecting some nonlinear constraints for step response of the system. Numerical simulation results are given to show the validity and the good performances of the proposed method.