Evolutionary Based Tuning Approach of $\text{PI}^{\lambda}\mathrm{D}^{\mu}$ Fractional-Order Speed Controller for multirotor UAV

The present paper addresses the use of evolutionary based algorithms for off-line fractional-order controller tuning. In particular, a linearized model of a motor-rotor propulsion device was assumed whose representativeness is supported by laboratorial measurements. Initially, the controller was calibrated, using the devised linear model, by a procedure that uses a cost function defined as the linear combination between the sum of the squared error and the sum of the absolute error. In this work, it was shown that this process can be improved by using an evolutionary based algorithm in order to find the best controller parameters. This strategy allows a more automatic tuning procedure isolating it from the user intervention. Moreover, the results achieved by this process, lead to an improved rotational speed regulation.