Research on Improved Particle Swarm Optimized Fuzzy PID Control for Quadrotor UAV

Aiming at the problem of blindness in selecting the scale factor and quantization factor in the fuzzy PID control of quadrotor UA V based on empirical knowledge and simulation debugging, an improved particle swarm algorithm is proposed to optimize the parameter factors of the fuzzy controller, method. Using the adaptive inertia - weight method to optimize the particle swarm can avoid the dilemma of local optimality at the beginning. At the same time, the ITAE criterion is selected as the adaptability of the particle swarm algorithm to achieve better control effect. The adaptive particle swarm fuzzy PID is proved to be faster than fuzzy PID and traditional PID, with less overshoot and shorter stabilization time; the particle swarm fuzzy PID algorithm takes less time to recover the stabilization time when disturbing signals are encountered.